From c2b29f18f36052c8d77dfdd76cddf2421aa58d10 Mon Sep 17 00:00:00 2001 From: Havoc <2993167370@qq.com> Date: Tue, 27 May 2025 01:18:10 +0800 Subject: [PATCH] =?UTF-8?q?=E9=87=8D=E6=9E=84=E4=BB=BB=E5=8A=A14=E5=92=8C?= =?UTF-8?q?=E4=BB=BB=E5=8A=A15=EF=BC=8C=E6=9B=B4=E6=96=B0=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B5=81=E7=A8=8B=E5=92=8C=E5=8F=82=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在main.py中注释掉run_task_2函数，确保任务执行流程的简化。 - 在task_4.py中添加go_straight_until_sky_ratio_below函数以实现基于灰色天空比例的直线移动。 - 更新README.md以反映任务4和任务5的最新描述，合并相关内容。 - 删除task_5中的多个不再使用的文件，优化代码结构。 --- README.md | 8 +- main.py | 4 +- {task_5 => task_4}/Gait_Def_up.toml | 0 {task_5 => task_4}/Gait_Params_up.toml | 664 +++++++++---------- {task_5 => task_4}/Gait_Params_up_full.toml | 0 {task_5 => task_4}/file_send_lcmt.py | 0 {task_5 => task_4}/main-ori.py | 0 task_5/main.py => task_4/pass_bar.py | 98 +-- {task_5 => task_4}/robot_control_cmd_lcmt.py | 0 task_4/task_4.py | 93 ++- task_5/Usergait_List.toml | 44 -- task_5/task_3.py | 283 -------- task_5/task_5.py | 239 +++++++ 13 files changed, 724 insertions(+), 709 deletions(-) rename {task_5 => task_4}/Gait_Def_up.toml (100%) rename {task_5 => task_4}/Gait_Params_up.toml (91%) rename {task_5 => task_4}/Gait_Params_up_full.toml (100%) rename {task_5 => task_4}/file_send_lcmt.py (100%) rename {task_5 => task_4}/main-ori.py (100%) rename task_5/main.py => task_4/pass_bar.py (57%) mode change 100755 => 100644 rename {task_5 => task_4}/robot_control_cmd_lcmt.py (100%) delete mode 100644 task_5/Usergait_List.toml delete mode 100644 task_5/task_3.py create mode 100644 task_5/task_5.py diff --git a/README.md b/README.md index 46ad21d..c343bbb 100644 --- a/README.md +++ b/README.md @@ -42,18 +42,16 @@ RGB 摄像机所在位置的确定： 以及反方向。 -## Task-4：石板路 +## Task-4：石板路 & 过栅栏 -![alt text](./res/readme/image-6.png) +![alt text](./res/re adme/image-6.png) ![alt text](./res/readme/image-7.png) -## Task-5：过栅栏 ![alt text](./res/readme/image-8.png) -## Task-5.5：走向卸货 +## Task-5：走向卸货 & 卸货 从上一个赛道结束到 B 二维码。 -## Task-6：卸货 也可能在另一边。 这里是感觉在走过去的过程中就能判断二维码。 diff --git a/main.py b/main.py index b4687d3..33f9c43 100644 --- a/main.py +++ b/main.py @@ -43,11 +43,11 @@ def main(): # time.sleep(100) # TEST # run_task_1(Ctrl, msg) - run_task_2(Ctrl, msg) + # run_task_2(Ctrl, msg) # run_task_2_5(Ctrl, msg) - # run_task_4(Ctrl, msg) + run_task_4(Ctrl, msg) # run_task_test(Ctrl, msg) diff --git a/task_5/Gait_Def_up.toml b/task_4/Gait_Def_up.toml similarity index 100% rename from task_5/Gait_Def_up.toml rename to task_4/Gait_Def_up.toml diff --git a/task_5/Gait_Params_up.toml b/task_4/Gait_Params_up.toml similarity index 91% rename from task_5/Gait_Params_up.toml rename to task_4/Gait_Params_up.toml index 615a080..9050030 100644 --- a/task_5/Gait_Params_up.toml +++ b/task_4/Gait_Params_up.toml @@ -5,7 +5,7 @@ [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -32,7 +32,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -58,7 +58,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -84,7 +84,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -111,7 +111,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -138,7 +138,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -164,7 +164,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -190,7 +190,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -216,7 +216,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -243,7 +243,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -269,7 +269,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -295,7 +295,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -321,7 +321,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -348,7 +348,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -374,7 +374,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -400,7 +400,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -426,7 +426,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -453,7 +453,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -479,7 +479,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -505,7 +505,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -532,7 +532,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -559,7 +559,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -585,7 +585,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -611,7 +611,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -637,7 +637,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -664,7 +664,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -690,7 +690,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -716,7 +716,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -742,7 +742,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -769,7 +769,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -795,7 +795,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -821,7 +821,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -847,7 +847,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -874,7 +874,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -900,7 +900,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -926,7 +926,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -953,7 +953,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -980,7 +980,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1006,7 +1006,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1032,7 +1032,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1058,7 +1058,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1085,7 +1085,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1111,7 +1111,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1137,7 +1137,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1163,7 +1163,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1190,7 +1190,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1216,7 +1216,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1242,7 +1242,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1268,7 +1268,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1295,7 +1295,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1321,7 +1321,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1347,7 +1347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1374,7 +1374,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1401,7 +1401,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1427,7 +1427,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1453,7 +1453,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1479,7 +1479,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1506,7 +1506,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1532,7 +1532,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1558,7 +1558,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1584,7 +1584,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1611,7 +1611,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1637,7 +1637,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1663,7 +1663,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1689,7 +1689,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1716,7 +1716,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1742,7 +1742,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1768,7 +1768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1795,7 +1795,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1822,7 +1822,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1848,7 +1848,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1874,7 +1874,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1900,7 +1900,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1927,7 +1927,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1953,7 +1953,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1979,7 +1979,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2005,7 +2005,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2032,7 +2032,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2058,7 +2058,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2084,7 +2084,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2110,7 +2110,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2137,7 +2137,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2163,7 +2163,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2189,7 +2189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2215,7 +2215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2242,7 +2242,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2268,7 +2268,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2294,7 +2294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2320,7 +2320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2347,7 +2347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2373,7 +2373,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2399,7 +2399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2425,7 +2425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2452,7 +2452,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2478,7 +2478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2504,7 +2504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2530,7 +2530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2557,7 +2557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2583,7 +2583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2609,7 +2609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2636,7 +2636,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2663,7 +2663,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2689,7 +2689,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2715,7 +2715,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2741,7 +2741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2768,7 +2768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2794,7 +2794,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2820,7 +2820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2846,7 +2846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2873,7 +2873,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2899,7 +2899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2925,7 +2925,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2951,7 +2951,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2978,7 +2978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3004,7 +3004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3030,7 +3030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3057,7 +3057,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3084,7 +3084,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3110,7 +3110,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3136,7 +3136,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3162,7 +3162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3189,7 +3189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3215,7 +3215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3241,7 +3241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3267,7 +3267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3294,7 +3294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3320,7 +3320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3346,7 +3346,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3372,7 +3372,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3399,7 +3399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3425,7 +3425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3451,7 +3451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3478,7 +3478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3505,7 +3505,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3531,7 +3531,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3557,7 +3557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3583,7 +3583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3610,7 +3610,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3636,7 +3636,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3662,7 +3662,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3688,7 +3688,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3715,7 +3715,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3741,7 +3741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3767,7 +3767,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3793,7 +3793,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3820,7 +3820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3846,7 +3846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3872,7 +3872,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3899,7 +3899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3926,7 +3926,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3952,7 +3952,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3978,7 +3978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4004,7 +4004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4031,7 +4031,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4057,7 +4057,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4083,7 +4083,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4109,7 +4109,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4136,7 +4136,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4162,7 +4162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4188,7 +4188,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4214,7 +4214,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4241,7 +4241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4267,7 +4267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4293,7 +4293,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4320,7 +4320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4347,7 +4347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4373,7 +4373,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4399,7 +4399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4425,7 +4425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4452,7 +4452,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4478,7 +4478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4504,7 +4504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4530,7 +4530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4557,7 +4557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4583,7 +4583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4609,7 +4609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4635,7 +4635,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4662,7 +4662,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4688,7 +4688,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4714,7 +4714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4741,7 +4741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4768,7 +4768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4794,7 +4794,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4820,7 +4820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4846,7 +4846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4873,7 +4873,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4899,7 +4899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4925,7 +4925,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4951,7 +4951,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4978,7 +4978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5004,7 +5004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5030,7 +5030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5056,7 +5056,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5083,7 +5083,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5109,7 +5109,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5135,7 +5135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5162,7 +5162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5189,7 +5189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5215,7 +5215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5241,7 +5241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5267,7 +5267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5294,7 +5294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5320,7 +5320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5346,7 +5346,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5372,7 +5372,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5399,7 +5399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5425,7 +5425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5451,7 +5451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5477,7 +5477,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5504,7 +5504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5530,7 +5530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5556,7 +5556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5582,7 +5582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5609,7 +5609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5635,7 +5635,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5661,7 +5661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5687,7 +5687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5714,7 +5714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5740,7 +5740,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5766,7 +5766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5792,7 +5792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5819,7 +5819,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5845,7 +5845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5871,7 +5871,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5897,7 +5897,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5924,7 +5924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5950,7 +5950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5976,7 +5976,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6003,7 +6003,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6030,7 +6030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6056,7 +6056,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6082,7 +6082,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6108,7 +6108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6135,7 +6135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6161,7 +6161,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6187,7 +6187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6213,7 +6213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6240,7 +6240,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6266,7 +6266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6292,7 +6292,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6318,7 +6318,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6345,7 +6345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6371,7 +6371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6397,7 +6397,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6424,7 +6424,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6451,7 +6451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6477,7 +6477,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6503,7 +6503,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6529,7 +6529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6556,7 +6556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6582,7 +6582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6608,7 +6608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6634,7 +6634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6661,7 +6661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6687,7 +6687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6713,7 +6713,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6739,7 +6739,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6766,7 +6766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6792,7 +6792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6818,7 +6818,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6845,7 +6845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6872,7 +6872,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6898,7 +6898,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6924,7 +6924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6950,7 +6950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6977,7 +6977,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7003,7 +7003,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7029,7 +7029,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7055,7 +7055,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7082,7 +7082,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7108,7 +7108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7134,7 +7134,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7160,7 +7160,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7187,7 +7187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7213,7 +7213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7239,7 +7239,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7266,7 +7266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7293,7 +7293,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7319,7 +7319,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7345,7 +7345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7371,7 +7371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7398,7 +7398,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7424,7 +7424,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7450,7 +7450,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7476,7 +7476,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7503,7 +7503,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7529,7 +7529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7555,7 +7555,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7581,7 +7581,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7608,7 +7608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7634,7 +7634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7660,7 +7660,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7687,7 +7687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7714,7 +7714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7740,7 +7740,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7766,7 +7766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7792,7 +7792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7819,7 +7819,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7845,7 +7845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7871,7 +7871,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7897,7 +7897,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7924,7 +7924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7950,7 +7950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7976,7 +7976,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8002,7 +8002,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8029,7 +8029,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8055,7 +8055,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8081,7 +8081,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8108,7 +8108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8135,7 +8135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8161,7 +8161,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8187,7 +8187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8213,7 +8213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8240,7 +8240,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8266,7 +8266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8292,7 +8292,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8318,7 +8318,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8345,7 +8345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8371,7 +8371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8397,7 +8397,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8423,7 +8423,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8450,7 +8450,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8476,7 +8476,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8502,7 +8502,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8529,7 +8529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8556,7 +8556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8582,7 +8582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8608,7 +8608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8634,7 +8634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8661,7 +8661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8687,7 +8687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8713,7 +8713,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.10, 0.0, 0.0] +body_vel_des = [0.20, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 diff --git a/task_5/Gait_Params_up_full.toml b/task_4/Gait_Params_up_full.toml similarity index 100% rename from task_5/Gait_Params_up_full.toml rename to task_4/Gait_Params_up_full.toml diff --git a/task_5/file_send_lcmt.py b/task_4/file_send_lcmt.py similarity index 100% rename from task_5/file_send_lcmt.py rename to task_4/file_send_lcmt.py diff --git a/task_5/main-ori.py b/task_4/main-ori.py similarity index 100% rename from task_5/main-ori.py rename to task_4/main-ori.py diff --git a/task_5/main.py b/task_4/pass_bar.py old mode 100755 new mode 100644 similarity index 57% rename from task_5/main.py rename to task_4/pass_bar.py index fe251df..f5364ad --- a/task_5/main.py +++ b/task_4/pass_bar.py @@ -1,20 +1,26 @@ -''' -This demo show the communication interface of MR813 motion control board based on Lcm -- robot_control_cmd_lcmt.py -- file_send_lcmt.py -- Gait_Def_moonwalk.toml -- Gait_Params_moonwalk.toml -- Usergait_List.toml -''' -import lcm -import sys import time +import sys +import os import toml import copy import math -from robot_control_cmd_lcmt import robot_control_cmd_lcmt +import lcm + +# 添加父目录到路径，以便能够导入utils +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) +# 添加当前目录到路径，确保可以找到local文件 +sys.path.append(os.path.dirname(os.path.abspath(__file__))) + +from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing +from base_move.turn_degree import turn_degree +from base_move.go_straight import go_straight from file_send_lcmt import file_send_lcmt +# 创建本模块特定的日志记录器 +logger = get_logger("任务3") + +observe = True + robot_cmd = { 'mode':0, 'gait_id':0, 'contact':0, 'life_count':0, 'vel_des':[0.0, 0.0, 0.0], @@ -25,15 +31,24 @@ robot_cmd = { 'foot_pose':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'step_height':[0.0, 0.0], 'value':0, 'duration':0 - } +} -def main(): - lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") - lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") +def run_task_5(ctrl, msg): + """ + 俯身通过一个栅栏 + """ + section('任务5：步态切换', "启动") + info('开始执行任务5...', "启动") + + turn_degree(ctrl, msg, 90, absolute=True) + + section('任务5-1：切换步态', "启动") + # 切换步态 usergait_msg = file_send_lcmt() - cmd_msg = robot_control_cmd_lcmt() + lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") + try: - steps = toml.load("Gait_Params_up.toml") + steps = toml.load("./task_5/Gait_Params_up.toml") full_steps = {'step':[robot_cmd]} k =0 for i in steps['step']: @@ -60,13 +75,14 @@ def main(): else: full_steps['step'].append(cmd) k=k+1 - f = open("Gait_Params_up_full.toml", 'w') + f = open("./task_5/Gait_Params_up_full.toml", 'w') f.write("# Gait Params\n") f.writelines(toml.dumps(full_steps)) f.close() - file_obj_gait_def = open("Gait_Def_up.toml",'r') - file_obj_gait_params = open("Gait_Params_up_full.toml",'r') + # pre + file_obj_gait_def = open("./task_5/Gait_Def_up.toml",'r') + file_obj_gait_params = open("./task_5/Gait_Params_up_full.toml",'r') usergait_msg.data = file_obj_gait_def.read() lcm_usergait.publish("user_gait_file",usergait_msg.encode()) time.sleep(0.5) @@ -76,23 +92,27 @@ def main(): file_obj_gait_def.close() file_obj_gait_params.close() - cmd_msg.mode = 62 - cmd_msg.value = 0 - cmd_msg.contact = 15 - cmd_msg.gait_id = 110 - cmd_msg.duration = 1000 - cmd_msg.life_count += 1 - for i in range(325): #15s Heat beat It is used to maintain the heartbeat when life count is not updated - lcm_cmd.publish("robot_control_cmd",cmd_msg.encode()) - time.sleep( 0.2 ) - except KeyboardInterrupt: - cmd_msg.mode = 7 #PureDamper before KeyboardInterrupt: - cmd_msg.gait_id = 0 - cmd_msg.duration = 0 - cmd_msg.life_count += 1 - lcm_cmd.publish("robot_control_cmd",cmd_msg.encode()) - pass - sys.exit() + file_obj_gait_params = open("./task_5/Gait_Params_up_full.toml",'r') + usergait_msg.data = file_obj_gait_params.read() + lcm_usergait.publish("user_gait_file", usergait_msg.encode()) + time.sleep(0.5) + file_obj_gait_params.close() -if __name__ == '__main__': - main() + msg.mode = 62 + msg.value = 0 + msg.contact = 15 + msg.gait_id = 110 + msg.duration = 1000 + msg.life_count += 1 + + for i in range(50): + ctrl.Send_cmd(msg) + time.sleep(0.2) + + except KeyboardInterrupt: + msg.mode = 7 #PureDamper before KeyboardInterrupt: + msg.gait_id = 0 + msg.duration = 0 + msg.life_count += 1 + ctrl.Send_cmd(msg) + pass diff --git a/task_5/robot_control_cmd_lcmt.py b/task_4/robot_control_cmd_lcmt.py similarity index 100% rename from task_5/robot_control_cmd_lcmt.py rename to task_4/robot_control_cmd_lcmt.py diff --git a/task_4/task_4.py b/task_4/task_4.py index 4efd29c..3b96500 100644 --- a/task_4/task_4.py +++ b/task_4/task_4.py @@ -1,6 +1,8 @@ import time import sys import os +import cv2 +import numpy as np # 添加父目录到路径，以便能够导入utils sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) @@ -8,9 +10,10 @@ sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) from base_move.turn_degree import turn_degree from base_move.go_straight import go_straight from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing +from utils.gray_sky_analyzer import analyze_gray_sky_ratio # 创建本模块特定的日志记录器 -logger = get_logger("任务5") +logger = get_logger("任务4") def run_task_4(ctrl, msg): """ @@ -20,9 +23,91 @@ def run_task_4(ctrl, msg): image_processor: 可选的图像处理器实例 """ - turn_degree(ctrl, msg, 90, absolute=90) + section('任务4-1：直线移动', "移动") + go_straight(ctrl, msg, distance=6) + + section('任务4-2：移动直到灰色天空比例小于阈值', "天空检测") + go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2) - time.sleep(100) - # go_straight(ctrl, msg, distance=6) +def go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2, step_distance=0.5, max_distance=10, speed=0.3): + """ + 控制机器人沿直线行走，直到灰色天空比例小于指定阈值 + + 参数: + ctrl: Robot_Ctrl对象 + msg: 控制命令消息对象 + sky_ratio_threshold: 灰色天空比例阈值，当检测到的比例小于此值时停止 + step_distance: 每次移动的步长(米) + max_distance: 最大移动距离(米)，防止无限前进 + speed: 移动速度(米/秒) + + 返回: + bool: 是否成功找到天空比例小于阈值的位置 + """ + total_distance = 0 + success_flag = False + + # 设置移动命令 + msg.mode = 11 # Locomotion模式 + msg.gait_id = 26 # 自变频步态 + msg.step_height = [0.06, 0.06] # 抬腿高度 + + while total_distance < max_distance: + # 获取当前图像 + current_image = ctrl.image_processor.get_current_image() + if current_image is None: + warning("无法获取图像，等待...", "图像") + time.sleep(0.5) + continue + + # 保存当前图像用于分析 + temp_image_path = "/tmp/current_sky_image.jpg" + cv2.imwrite(temp_image_path, current_image) + + # 分析灰色天空比例 + try: + sky_ratio = analyze_gray_sky_ratio(temp_image_path) + info(f"当前灰色天空比例: {sky_ratio:.2%}", "分析") + + # 如果天空比例小于阈值，停止移动 + if sky_ratio < sky_ratio_threshold: + success(f"检测到灰色天空比例({sky_ratio:.2%})小于阈值({sky_ratio_threshold:.2%})，停止移动", "完成") + success_flag = True + break + + except Exception as e: + error(f"分析图像时出错: {e}", "错误") + + # 继续前进一段距离 + info(f"继续前进 {step_distance} 米...", "移动") + + # 设置移动速度和方向 + msg.vel_des = [speed, 0, 0] # [前进速度, 侧向速度, 角速度] + msg.duration = 0 # wait next cmd + msg.life_count += 1 + + # 发送命令 + ctrl.Send_cmd(msg) + + # 估算前进时间 + move_time = step_distance / speed + time.sleep(move_time) + + # 累计移动距离 + total_distance += step_distance + info(f"已移动总距离: {total_distance:.2f} 米", "距离") + + # 平滑停止 + if hasattr(ctrl.base_msg, 'stop_smooth'): + ctrl.base_msg.stop_smooth() + else: + ctrl.base_msg.stop() + + if not success_flag and total_distance >= max_distance: + warning(f"已达到最大移动距离 {max_distance} 米，但未找到天空比例小于 {sky_ratio_threshold:.2%} 的位置", "超时") + + return success_flag + + diff --git a/task_5/Usergait_List.toml b/task_5/Usergait_List.toml deleted file mode 100644 index ad7f790..0000000 --- a/task_5/Usergait_List.toml +++ /dev/null @@ -1,44 +0,0 @@ -[[step]] -acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -contact = 0 -ctrl_point = [0.0, 0.0, 0.0] -duration = 0 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S -foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -gait_id = 0 -life_count = 0 #Fake value -mode = 12 -pos_des = [0.0, 0.0, 0.0] -rpy_des = [0.0, 0.0, 0.0] -step_height = [0.0, 0.0] -value = 0 -vel_des = [0.0, 0.0, 0.0] - -[[step]] -acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -contact = 15 -ctrl_point = [0.0, 0.0, 0.0] -duration = 0 -foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -gait_id = 110 -life_count = 0 -mode = 62 # User define gait -pos_des = [0.0, 0.0, 0.0] -rpy_des = [0.0, 0.0, 0.0] -step_height = [0.0, 0.0] -value = 0 -vel_des = [0.0, 0.0, 0.0] # velocity of x y yaw - -# [[step]] -# acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -# contact = 0 -# ctrl_point = [0.0, 0.0, 0.0] -# duration = 1000 -# foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] -# gait_id = 1 #采用受控趴下 -# life_count = 0 -# mode = 7 #Puredamper -# pos_des = [0.0, 0.0, 0.0] -# rpy_des = [0.0, 0.0, 0.0] -# step_height = [0.0, 0.0] -# value = 0 -# vel_des = [0.0, 0.0, 0.0] diff --git a/task_5/task_3.py b/task_5/task_3.py deleted file mode 100644 index cd50a1e..0000000 --- a/task_5/task_3.py +++ /dev/null @@ -1,283 +0,0 @@ -import time -import sys -import os -import toml -import copy -import math -import lcm - -# 添加父目录到路径，以便能够导入utils -sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -# 添加当前目录到路径，确保可以找到local文件 -sys.path.append(os.path.dirname(os.path.abspath(__file__))) - -from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing -from base_move.turn_degree import turn_degree -from base_move.go_straight import go_straight -from file_send_lcmt import file_send_lcmt - -# 创建本模块特定的日志记录器 -logger = get_logger("任务3") - -observe = True - -robot_cmd = { - 'mode':0, 'gait_id':0, 'contact':0, 'life_count':0, - 'vel_des':[0.0, 0.0, 0.0], - 'rpy_des':[0.0, 0.0, 0.0], - 'pos_des':[0.0, 0.0, 0.0], - 'acc_des':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], - 'ctrl_point':[0.0, 0.0, 0.0], - 'foot_pose':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], - 'step_height':[0.0, 0.0], - 'value':0, 'duration':0 -} - -def run_task_3(ctrl, msg): - section('任务3：步态切换', "启动") - info('开始执行任务3...', "启动") - - turn_degree(ctrl, msg, 90, absolute=True) - turn_degree(ctrl, msg, 90, absolute=True) - - usergait_msg = file_send_lcmt() - lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") - - try: - steps = toml.load("./task_3/Gait_Params_up.toml") - full_steps = {'step':[robot_cmd]} - k =0 - for i in steps['step']: - cmd = copy.deepcopy(robot_cmd) - cmd['duration'] = i['duration'] - if i['type'] == 'usergait': - cmd['mode'] = 11 # LOCOMOTION - cmd['gait_id'] = 110 # USERGAIT - cmd['vel_des'] = i['body_vel_des'] - cmd['rpy_des'] = i['body_pos_des'][0:3] - cmd['pos_des'] = i['body_pos_des'][3:6] - cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2] - cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5] - cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8] - cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11] - cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3 - cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3 - cmd['acc_des'] = i['weight'] - cmd['value'] = i['use_mpc_traj'] - cmd['contact'] = math.floor(i['landing_gain'] * 1e1) - cmd['ctrl_point'][2] = i['mu'] - if k == 0: - full_steps['step'] = [cmd] - else: - full_steps['step'].append(cmd) - k=k+1 - f = open("./task_3/Gait_Params_up_full.toml", 'w') - f.write("# Gait Params\n") - f.writelines(toml.dumps(full_steps)) - f.close() - - # pre - file_obj_gait_def = open("./task_3/Gait_Def_up.toml",'r') - file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r') - usergait_msg.data = file_obj_gait_def.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) - time.sleep(0.5) - usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) - time.sleep(0.1) - file_obj_gait_def.close() - file_obj_gait_params.close() - - file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r') - usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file", usergait_msg.encode()) - time.sleep(0.5) - file_obj_gait_params.close() - - msg.mode = 62 - msg.value = 0 - msg.contact = 15 - msg.gait_id = 110 - msg.duration = 1000 - msg.life_count += 1 - - # 参数设置 - stable_count = 0 # 用于计数z轴稳定的次数 - stable_threshold = 10 # 连续15次检测z轴不再增加则认为已经停止 - z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止爬升 - climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值 - max_iterations = 600 # 最大循环次数，作为安全保障 - min_iterations = 200 # 最小循环次数，作为安全保障 - start_height = ctrl.odo_msg.xyz[2] # 记录起始高度 - - # 阶段控制 - climbing_detected = False # 是否检测到正在爬坡 - - info(f"开始监测里程计Z轴速度，初始高度: {start_height}", "监测") - - for i in range(max_iterations): - # 发送控制命令维持心跳 - ctrl.Send_cmd(msg) - - # 每10次迭代打印一次当前信息 - if i % 10 == 0: - # 获取当前Z轴位置和速度 - current_vz = ctrl.odo_msg.vxyz[2] # z轴速度 - info(f"当前Z轴速度={current_vz:.3f}", "监测") - - # 获取z轴速度 - vz = ctrl.odo_msg.vxyz[2] - - # 检测是否开始爬坡阶段 - 使用z轴速度判断 - if not climbing_detected and vz > climb_speed_threshold: - climbing_detected = True - info(f"检测到开始爬坡，Z轴速度: {vz:.3f}, 当前高度: {ctrl.odo_msg.xyz[2]:.3f}", "监测") - - # 只有在检测到爬坡后，才开始监控Z轴是否停止增加 - if i > min_iterations and climbing_detected: - # 如果Z轴速度接近于0或者为负，表示已经停止爬升或开始下降 - if abs(vz) < z_speed_threshold or vz < 0: - stable_count += 1 - if stable_count >= stable_threshold: - current_height = ctrl.odo_msg.xyz[2] - info(f"Z轴速度趋近于0，停止循环。当前速度: {vz:.3f}, 当前高度: {current_height:.3f}", "监测") - break - else: - # 如果Z轴仍有明显上升速度，重置稳定计数 - stable_count = 0 - - time.sleep(0.2) - except KeyboardInterrupt: - msg.mode = 7 #PureDamper before KeyboardInterrupt: - msg.gait_id = 0 - msg.duration = 0 - msg.life_count += 1 - ctrl.Send_cmd(msg) - pass - - section('任务3-2：直线行走', "开始") - # go_straight(ctrl, msg, distance=1) - msg.mode = 11 # Locomotion模式 - msg.gait_id = 26 # 自变频步态 - msg.duration = 0 # wait next cmd - msg.step_height = [0.06, 0.06] # 抬腿高度 - msg.vel_des = [0, 0.2, 0] # [前进速度, 侧向速度, 角速度] - msg.life_count += 1 - ctrl.Send_cmd(msg) - time.sleep(0.3) - - section('任务3-3：down', "完成") - try: - steps = toml.load("./task_3/Gait_Params_up.toml") - full_steps = {'step':[robot_cmd]} - k = 0 - for i in steps['step']: - cmd = copy.deepcopy(robot_cmd) - cmd['duration'] = i['duration'] - if i['type'] == 'usergait': - cmd['mode'] = 11 # LOCOMOTION - cmd['gait_id'] = 110 # USERGAIT - cmd['vel_des'] = i['body_vel_des'] - cmd['rpy_des'] = i['body_pos_des'][0:3] - cmd['pos_des'] = i['body_pos_des'][3:6] - cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2] - cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5] - cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8] - cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11] - cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3 - cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3 - cmd['acc_des'] = i['weight'] - cmd['value'] = i['use_mpc_traj'] - cmd['contact'] = math.floor(i['landing_gain'] * 1e1) - cmd['ctrl_point'][2] = i['mu'] - if k == 0: - full_steps['step'] = [cmd] - else: - full_steps['step'].append(cmd) - k=k+1 - f = open("./task_3/Gait_Params_up_full.toml", 'w') - f.write("# Gait Params\n") - f.writelines(toml.dumps(full_steps)) - f.close() - - # pre - file_obj_gait_def = open("./task_3/Gait_Def_up.toml",'r') - file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r') - usergait_msg.data = file_obj_gait_def.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) - time.sleep(0.5) - usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) - time.sleep(0.1) - file_obj_gait_def.close() - file_obj_gait_params.close() - - file_obj_gait_params = open("./task_3/Gait_Params_up_full.toml",'r') - usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file", usergait_msg.encode()) - time.sleep(0.5) - file_obj_gait_params.close() - - msg.mode = 62 - msg.value = 0 - msg.contact = 15 - msg.gait_id = 110 - msg.duration = 1000 - msg.life_count += 1 - - # 参数设置 - stable_count = 0 # 用于计数z轴稳定的次数 - stable_threshold = 8 # 连续10次检测z轴速度接近零则认为已经到达平地 - z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止下降 - descent_speed_threshold = -0.05 # 检测到开始下坡的速度阈值（负值表示下降） - max_iterations = 600 # 最大循环次数，作为安全保障 - min_iterations = 100 # 最小循环次数，确保有足够的时间开始动作 - start_height = ctrl.odo_msg.xyz[2] # 记录起始高度 - - # 阶段控制 - descending_detected = False # 是否检测到正在下坡 - flat_ground_detected = False # 是否检测到已到达平地 - - info(f"开始监测下坡过程，初始高度: {start_height}", "监测") - - for i in range(max_iterations): - # 发送控制命令维持心跳 - ctrl.Send_cmd(msg) - - # 获取z轴速度和当前高度 - vz = ctrl.odo_msg.vxyz[2] - current_height = ctrl.odo_msg.xyz[2] - - # 每10次迭代打印一次当前信息 - if observe and i % 10 == 0: - info(f"当前Z轴速度={vz:.3f}, 当前高度={current_height:.3f}", "监测") - - # 检测是否开始下坡阶段 - 使用z轴速度判断（负值表示下降） - if not descending_detected and vz < descent_speed_threshold: - descending_detected = True - info(f"检测到开始下坡，Z轴速度: {vz:.3f}, 当前高度: {current_height:.3f}", "监测") - - # 只有在检测到下坡后，才开始监控是否到达平地 - if i > min_iterations and descending_detected: - # 如果Z轴速度接近于0，表示已经停止下降（到达平地） - if abs(vz) < z_speed_threshold: - stable_count += 1 - if stable_count >= stable_threshold: - info(f"检测到已到达平地，Z轴速度趋近于0，停止循环。当前速度: {vz:.3f}, 当前高度: {current_height:.3f}, 下降了: {start_height - current_height:.3f}米", "监测") - flat_ground_detected = True - break - else: - # 如果Z轴仍有明显下降速度，重置稳定计数 - stable_count = 0 - - time.sleep(0.2) - - if not flat_ground_detected: - info(f"达到最大循环次数，未能明确检测到到达平地。当前高度: {ctrl.odo_msg.xyz[2]:.3f}", "警告") - except KeyboardInterrupt: - msg.mode = 7 #PureDamper before KeyboardInterrupt: - msg.gait_id = 0 - msg.duration = 0 - msg.life_count += 1 - ctrl.Send_cmd(msg) - pass diff --git a/task_5/task_5.py b/task_5/task_5.py new file mode 100644 index 0000000..f3e56b6 --- /dev/null +++ b/task_5/task_5.py @@ -0,0 +1,239 @@ +import time +import sys +import os +import cv2 +import numpy as np +import math + +# 添加父目录到路径，以便能够导入utils +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + +from base_move.turn_degree import turn_degree +from base_move.go_straight import go_straight +from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing +from utils.gray_sky_analyzer import analyze_gray_sky_ratio +from base_move.move_base_hori_line import detect_horizontal_track_edge, detect_horizontal_track_edge_v2, detect_horizontal_track_edge_v3, calculate_distance_to_line + + +def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed=0.5, + max_distance=10, detect_func_version=2, + qr_check_interval=0.3, observe=False): + """ + 控制机器人直线行走，直到与横向线距离为指定值，同时识别路径上的二维码 + + 参数: + ctrl: Robot_Ctrl 对象，包含里程计信息 + msg: robot_control_cmd_lcmt 对象，用于发送命令 + target_distance: 与横向线的目标距离(米)，默认为0.5米 + speed: 行走速度(米/秒)，默认为0.5米/秒 + max_distance: 最大行走距离(米)，超过此距离将停止，默认为10米 + detect_func_version: 检测横线的函数版本，默认为2 + qr_check_interval: 检查二维码的时间间隔(秒)，默认为0.3秒 + observe: 是否输出中间状态信息，默认为False + + 返回: + tuple: (是否成功, 二维码结果, 额外信息字典) + """ + # 返回结果字典，包含过程中的状态信息 + res = { + 'qr_result': None, + 'success': False, + 'distance_moved': 0, + 'target_reached': False + } + + # 启动异步QR码扫描 + qr_result = None + try: + ctrl.image_processor.start_async_scan(interval=qr_check_interval) + if observe: + info("已启动异步QR码扫描", "扫描") + except Exception as e: + if observe: + error(f"启动QR码扫描失败: {e}", "失败") + + # 获取起始位置 + start_position = list(ctrl.odo_msg.xyz) + if observe: + debug(f"起始位置: {start_position}", "位置") + # 在起点放置绿色标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(start_position[0], start_position[1], start_position[2] if len(start_position) > 2 else 0.0, 'green', observe=True) + + # 设置移动命令 + msg.mode = 11 # Locomotion模式 + msg.gait_id = 26 # 自变频步态 + msg.vel_des = [speed, 0, 0] # [前进速度, 侧向速度, 角速度] + msg.duration = 0 # wait next cmd + msg.step_height = [0.06, 0.06] # 抬腿高度 + + # 开始移动 + msg.life_count += 1 + ctrl.Send_cmd(msg) + + # 记录起始时间和上次QR码检查时间 + start_time = time.time() + last_qr_check_time = start_time + + # 相机高度 (单位: 米) + camera_height = 0.355 + + # 存储上一次检测到的横线距离 + last_hori_line_distance = None + + # 主循环：持续移动直到达到目标或最大距离 + distance_moved = 0 + timeout = max_distance / speed + 5 # 超时时间 + + while distance_moved < max_distance and time.time() - start_time < timeout: + # 计算已移动距离 + current_position = ctrl.odo_msg.xyz + dx = current_position[0] - start_position[0] + dy = current_position[1] - start_position[1] + distance_moved = math.sqrt(dx*dx + dy*dy) + + # 检测横向线 + image = ctrl.image_processor.get_current_image() + + if detect_func_version == 1: + edge_point, edge_info = detect_horizontal_track_edge(image, observe=False, save_log=True) + elif detect_func_version == 2: + edge_point, edge_info = detect_horizontal_track_edge_v2(image, observe=False, save_log=True) + elif detect_func_version == 3: + edge_point, edge_info = detect_horizontal_track_edge_v3(image, observe=False, save_log=True) + else: + edge_point, edge_info = detect_horizontal_track_edge_v2(image, observe=False, save_log=True) + + # 如果检测到横向线 + if edge_point is not None and edge_info is not None: + # 计算到横向线的距离 + current_distance = calculate_distance_to_line(edge_info, camera_height, observe=False) + last_hori_line_distance = current_distance + + if observe and time.time() % 0.5 < 0.02: # 每0.5秒左右打印一次 + info(f"检测到横向线，距离: {current_distance:.3f}米，目标距离: {target_distance:.3f}米", "检测") + + # 判断是否达到目标距离 + if current_distance <= target_distance + 0.1: + if observe: + success(f"已达到目标距离，当前距离: {current_distance:.3f}米", "完成") + + # 平滑停止 + if hasattr(ctrl.base_msg, 'stop_smooth'): + ctrl.base_msg.stop_smooth() + else: + ctrl.base_msg.stop() + + res['success'] = True + res['target_reached'] = True + res['final_distance'] = current_distance + break + + # 根据距离动态调整速度 + # 离目标越近，速度越慢 + if current_distance - target_distance < 2.0: + # 线性降低速度 + speed_factor = min(1.0, max(0.3, (current_distance - target_distance) / 2.0)) + new_speed = speed * speed_factor + + if observe and abs(new_speed - msg.vel_des[0]) > 0.05: + info(f"调整速度: {msg.vel_des[0]:.2f} -> {new_speed:.2f} 米/秒", "速度") + + msg.vel_des[0] = new_speed + msg.life_count += 1 + ctrl.Send_cmd(msg) + + # 检查QR码扫描结果 + current_time = time.time() + if current_time - last_qr_check_time >= qr_check_interval: + qr_data, scan_time = ctrl.image_processor.get_last_qr_result() + if qr_data and scan_time > start_time: + qr_result = qr_data + res['qr_result'] = qr_result + if observe: + success(f"扫描到QR码: {qr_data}", "扫描") + last_qr_check_time = current_time + + # 输出调试信息 + if observe and time.time() % 0.5 < 0.02: # 每0.5秒左右打印一次 + debug(f"已移动: {distance_moved:.3f}米, 最大距离: {max_distance:.3f}米", "移动") + + time.sleep(0.05) # 控制循环频率 + + # 停止移动 + if not res['target_reached']: + if observe: + if distance_moved >= max_distance: + warning(f"已达到最大移动距离 {max_distance:.3f}米，但未检测到横向线", "停止") + else: + warning("超时停止", "停止") + ctrl.base_msg.stop() + res['success'] = False + + # 停止异步QR码扫描 + ctrl.image_processor.stop_async_scan() + + # 最后一次检查QR码结果 + qr_data, scan_time = ctrl.image_processor.get_last_qr_result() + if qr_data and (qr_result is None or scan_time > last_qr_check_time): + qr_result = qr_data + res['qr_result'] = qr_result + if observe: + success(f"最终扫描到QR码: {qr_data}", "扫描") + + # 记录最终位置和移动距离 + final_position = ctrl.odo_msg.xyz + dx = final_position[0] - start_position[0] + dy = final_position[1] - start_position[1] + final_distance_moved = math.sqrt(dx*dx + dy*dy) + res['distance_moved'] = final_distance_moved + + if observe: + # 在终点放置红色标记 + if hasattr(ctrl, 'place_marker'): + ctrl.place_marker(final_position[0], final_position[1], + final_position[2] if len(final_position) > 2 else 0.0, + 'red', observe=True) + info(f"移动完成，总距离: {final_distance_moved:.3f}米", "完成") + if qr_result: + info(f"扫描到的QR码: {qr_result}", "结果") + + return res['success'], qr_result, res + + +def run_task_5(ctrl, msg): + """ + 走向卸货 + """ + section('任务5-1：直线移动并扫描二维码', "移动") + + # 目标与横线的距离为0.5米 + target_distance = 0.5 + # 前进速度为0.5米/秒 + speed = 0.5 + # 最大移动距离为8米 + max_distance = 8 + # 启用观察模式 + observe = True + + # 开始移动并扫描二维码 + success, qr_result, move_info = go_straight_to_horizontal_line_with_qr( + ctrl, msg, + target_distance=target_distance, + speed=speed, + max_distance=max_distance, + observe=observe + ) + + # 输出结果 + if success: + success("成功到达横线前指定距离", "完成") + if qr_result: + info(f"扫描到二维码: {qr_result}", "二维码") + else: + warning("未扫描到二维码", "二维码") + else: + error("未能成功到达横线前指定距离", "失败") + + # 返回移动和扫描结果 + return success, qr_result, move_info