fix: back

utils/base_msg.py

@@ -81,65 +81,6 @@ class BaseMsg:
         self.msg.mode = 12
         self.msg.gait_id = 0
         self.msg.life_count += 1
-        print(self.msg.pos_des[2])
-        
-
-        
-         # 站立指令核心参数
-        self.msg.mode = 12          # 站立模式
-        self.msg.gait_id = 0        # 基础步态
-        self.msg.life_count += 1    # 确保指令唯一性
-        self.msg.pos_des = [0, 0, 0.3]   # 目标高度30cm（关键！）
-        self.msg.step_height = [0.05, 0.05]  # 抬腿高度5cm
-        self.msg.vel_des = [0, 0, 0]     # 零速度
-        self.msg.rpy_des = [0, 0, 0]     # 水平姿态
-        self.msg.value = 1               # 激活标志位（根据协议文档）
-        self.msg.duration = 0            # 持续执行直到完成
-
-
-
-        # print("\n=== 控制指令详情 ===")
-        # print(f"模式(mode): {self.msg.mode}")
-        # print(f"步态ID(gait_id): {self.msg.gait_id}")
-        # print(f"接触状态(contact): {self.msg.contact}")
-        # print(f"生命周期(life_count): {self.msg.life_count}")
-        # print(f"目标速度(vel_des): {self.msg.vel_des}")
-        # print(f"目标姿态(rpy_des): {self.msg.rpy_des}")
-        # print(f"目标位置(pos_des): {self.msg.pos_des}")
-        # print(f"目标加速度(acc_des): {self.msg.acc_des}")
-        # print(f"控制点(ctrl_point): {self.msg.ctrl_point}")
-        # print(f"足端位姿(foot_pose): {self.msg.foot_pose}")
-        # print(f"步高(step_height): {self.msg.step_height}")
-        # print(f"参数值(value): {self.msg.value}")
-
-
         self.ctrl.Send_cmd(self.msg)
-        print(self.msg.pos_des[2])
         self.ctrl.Wait_finish(12, 0)
-        print(self.msg.pos_des[2])
+    
-    
-    # def stand_up(self):
-    #     # 1. 复位系统
-    #     self.msg.mode = 0
-    #     self.msg.life_count += 1
-    #     self.ctrl.Send_cmd(self.msg)
-    #     time.sleep(1)
-
-    #     # 2. 手动展开腿部（绕过软件限制）
-    #     for _ in range(3):  # 尝试3次
-    #         # 先降到最低高度（5cm）
-    #         self.msg.mode = 7
-    #         self.msg.pos_des = [0, 0, 0.05]  # 关键！低于当前高度
-
-    #         time.sleep(1)
-            
-    #         # 再尝试站立
-    #         self.msg.mode = 12
-    #         self.msg.pos_des = [0, 0, 0.75]  # 分阶段升高
-    #         self.msg.value = 0x01  # 激活隐藏标志位（根据协议）
-    #         self.ctrl.Send_cmd(self.msg)
-    #         time.sleep(2)
-
-
-            
-