The Huaxiao robotic motion planning system is a dual-arm manipulation platform that performs perception-driven task execution for industrial automation scenarios. The system combines real-time object tracking, MoveIt motion planning, and coordinated dual-arm control to execute complex pick-and-place operations on moving objects.
华小机器人运动规划系统是一个双臂操作平台，用于工业自动化场景中的感知驱动任务执行。该系统结合实时物体跟踪、MoveIt 运动规划和协调的双臂控制，以在移动物体上执行复杂的抓取和放置操作。
This document covers the overall system architecture, core components, and integration patterns. For detailed task configuration and YAML structure, see Task Configuration. For low-level hardware driver implementation, see Hardware Interface. For MoveIt-specific planning details, see Motion Planning Integration.
本文件涵盖了整体系统架构、核心组件和集成模式。有关详细任务配置和 YAML 结构，请参阅任务配置。有关底层硬件驱动实现，请参阅硬件接口。有关 MoveIt 特定的规划细节，请参阅运动规划集成。
The system follows a layered architecture with perception-driven task orchestration at the top level and real-time hardware control at the bottom level.
系统采用分层架构，顶层为感知驱动的任务编排，底层为实时硬件控制。
Sources: src/motion_planning/scripts/planning.py53-84 src/motion_planning/scripts/robot_interface.py389-452 src/motion_planning/scripts/object_tracker.py21-74
来源：src/motion_planning/scripts/planning.py53-84src/motion_planning/scripts/robot_interface.py389-452src/motion_planning/scripts/object_tracker.py21-74
This mapping shows how system concepts correspond to specific code classes and functions:
此映射展示了系统概念如何对应到特定的代码类和函数：
| Natural Language Concept 自然语言概念 | Code Entity 代码实体 | File Location 文件位置 | Primary Methods 主要方法 |
|---|---|---|---|
| Main Task Orchestrator 主任务协调器 | PerceptionDrivenTaskExecutor | planning.py:53 | perception_callback(), parse_perception() |
| Task Queue Manager 任务队列管理器 | TasksSheduler | tasks_sheduler.py | get_next_tasks(), mark_completed() |
| Single-Arm Controller 单臂控制器 | ArmInterface | robot_interface.py:59 | plan_with_moveit(), track_traj(), grasp() |
| Dual-Arm Controller 双臂控制器 | RobotInterface | robot_interface.py:389 | get_arm(), track_dual_traj() |
| Object State Tracker 物体状态追踪器 | ObjectTracker | object_tracker.py:21 | track(), _calculate_velocity() |
| Perception Data Wrapper 感知数据包装器 | Object | perception_object.py | pose, tracker_velocity |
| Pick-Place Operation 抓取放置操作 | PickAndPlaceTask | tasks/tasks_collection.py | execute(), can_execute() |
| Coordinated Dual-Arm Task 协调双臂任务 | DualPickAndPlaceTask | tasks/tasks_collection.py | execute(), _coordinate_arms() |
| Error Recovery Handler 错误恢复处理器 | RecoveryTask | tasks/tasks_collection.py | execute(), _perform_recovery() |
Sources: src/motion_planning/scripts/planning.py53-84 src/motion_planning/scripts/robot_interface.py59-115 src/motion_planning/scripts/object_tracker.py21-84
来源：src/motion_planning/scripts/planning.py53-84src/motion_planning/scripts/robot_interface.py59-115src/motion_planning/scripts/object_tracker.py21-84
The system operates through a continuous perception-execution loop driven by the PerceptionDrivenTaskExecutor.perception_callback() method:
系统通过由 PerceptionDrivenTaskExecutor.perception_callback() 方法驱动的连续感知-执行循环运行：
Sources: src/motion_planning/scripts/planning.py194-281 src/motion_planning/scripts/robot_interface.py646-661 src/motion_planning/scripts/object_tracker.py192-325
来源：src/motion_planning/scripts/planning.py194-281src/motion_planning/scripts/robot_interface.py646-661src/motion_planning/scripts/object_tracker.py192-325
The system abstracts hardware control through a hierarchical interface structure:
系统通过分层接口结构抽象硬件控制：
Sources: src/motion_planning/scripts/robot_interface.py389-452 src/jakamini_driver/launch/robot_servo_start.launch1-19 src/motion_planning/scripts/robot_interface.py416-434
来源：src/motion_planning/scripts/robot_interface.py389-452src/jakamini_driver/launch/robot_servo_start.launch1-19src/motion_planning/scripts/robot_interface.py416-434
The system initialization follows a structured launch sequence defined in robot_servo_start.launch:
系统初始化遵循在 robot_servo_start.launch 中定义的结构化启动序列：
Sources: src/jakamini_driver/launch/robot_servo_start.launch1-19 src/motion_planning/scripts/planning.py395-422 src/motion_planning/config/tasks.yaml.all1-140
来源：src/jakamini_driver/launch/robot_servo_start.launch1-19src/motion_planning/scripts/planning.py395-422src/motion_planning/config/tasks.yaml.all1-140
The system provides a complete dual-arm manipulation solution with real-time object tracking, coordinated motion planning, and robust error recovery. The modular architecture enables independent operation of each arm while supporting synchronized dual-arm tasks when required.
该系统提供完整的双臂操作解决方案，具备实时物体跟踪、协同运动规划和稳健的错误恢复功能。其模块化架构允许每条手臂独立运行，同时在需要时支持同步的双臂任务。
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