新增任务1和任务2.5的返回功能，包含多个移动和旋转步骤以完成任务回程。优化了机器人在任务中的动作流程，确保更流畅的执行。

task_1/task_1.py

@@ -122,3 +122,71 @@ def run_task_1(ctrl, msg):
     # TODO
     
     success("任务1完成", "完成")
+
+
+def run_task_1_back(ctrl, msg):
+    section('任务1-11: 返回', "移动")
+
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-11: 直线移动', "移动")
+    move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)
+
+    section('任务1-12: 90度旋转', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=170,
+        target_distance=0.6,
+        min_radius=0.3,
+        max_radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-13: 直线移动', "移动")
+    move_distance = 0.35
+    go_straight_by_hori_line(ctrl, msg, distance=move_distance, observe=observe)
+
+    section('任务1-14: 模拟装货', "停止")
+    info('机器人躺下，模拟装货过程', "信息")
+    start_time = time.time()
+    ctrl.base_msg.lie_down(wait_time=3000)  # TODO 比赛时改成 5s
+    elapsed = time.time() - start_time
+    timing("装货过程", elapsed)
+
+    section('任务1-15: 站起来', "移动")
+    ctrl.base_msg.stand_up()
+
+    section('任务1-16: 返回', "移动")
+    go_straight(ctrl, msg, distance=-(move_distance + res['radius'] + 0.3), observe=observe)
+
+    section('任务1-17: 90度转弯', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+        pass_align=True,
+        observe=observe,
+    )
+
+    section('任务1-18: 直线移动', "移动")
+    move_to_hori_line(ctrl, msg, target_distance=0.35, observe=observe)
+
+    section('任务1-19: 90度旋转', "旋转")
+    turn_success, res = arc_turn_around_hori_line(
+        ctrl=ctrl,
+        msg=msg,
+        angle_deg=90,
+        radius=0.4,
+    )
+
+    success("任务1-back完成", "完成")

task_2_5/task_2_5.py

@@ -43,4 +43,25 @@ def run_task_2_5(Ctrl, msg, direction='left'):
     #     observe=observe,
     # )
 
+def run_task_2_5_back(Ctrl, msg, direction='left'):
+    section('任务2.5-back：预备进入任务3', "启动")
+
+    arc_turn_around_hori_line(
+        Ctrl,
+        msg,
+        angle_deg=90 if direction == 'left' else -90,
+        target_distance=0.3,
+        detect_func_version=2,
+        observe=observe,
+    )
+
+    turn_degree(Ctrl, msg, degree=90, absolute=True)
+
+    # arc_turn_around_hori_line(
+    #     Ctrl,
+    #     msg,
+    #     angle_deg=70,
+    #     target_distance=0.5,
+    #     pass_align=True,
+    # )