优化任务2中的移动和旋转参数

- 调整go_to_xy函数的y坐标参数，从0.2修改为0.25，以改善路径精度。
- 更新turn_degree函数的角度参数，从0修改为0.8，以增强转向控制。
- 修改方向列表中的多个参数，以提高机器人在复杂路径中的行驶表现。

task_2/task_2.py

@@ -17,8 +17,8 @@ def run_task_2(ctrl, msg):
 
     # 微调 xy 和角度
 
-    go_to_xy(ctrl, msg, 0.9, 0.2, speed=0.5, observe=True)
-    turn_degree(ctrl, msg, 0, absolute=True)
+    go_to_xy(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
+    turn_degree(ctrl, msg, 0.8, absolute=True)
 
     # print("Recovery stand")
     # Ctrl.base_msg.stand_up()
@@ -55,19 +55,20 @@ def run_task_2(ctrl, msg):
     # 连续三重弯道行走
     directions = [
         #直线走一段
-        (0.4,0,0,0,0,0,0.5),
+        (0.4,0,0,0,0,0,1.6),
         #第一个圆弧
-        (0.45, 0, 0.77,0,0,0,7.3),
+        (0.45, 0, 0.77,0,0,0,7),
         #微调路径
-        (0.4,0,0,0,0,0,0.8),
-        #第二个圆弧
-        (0.4,0,-0.72,0,0,0,7.7),
-        #第三个圆弧
+        (0.4,0,0,0,0,0,1.2),
+        # #第二个圆弧
+        (0.4,0,-0.71,0,0,0,7.7),
+        # #第三个圆弧
         (0.4,0.05,-0.75,0,0,0,1.2),
-        #微调路径
+        # #微调路径
         (0.45, 0, 0.8,0,0,0,7.2),
-        #第四个圆弧
-        (0.4,0,-0.72,0,0,0,4)]  # [vel_x, vel_z] 对应 [左转, 右转, 左转]
+        # #第四个圆弧
+        (0.4,0,-0.71,0,0,0,4)
+        ]  # [vel_x, vel_z] 对应 [左转, 右转, 左转]
     
 
     for i, (vel_x, vel_y, vel_z ,rpy_x,rpy_y,rpy_z,t) in enumerate(directions):
@@ -92,4 +93,4 @@ def run_task_2(ctrl, msg):
     # msg.gait_id = 0
     # msg.life_count += 1
     # Ctrl.Send_cmd(msg)
-    # Ctrl.Wait_finish(7, 0)
+    # Ctrl.Wait_finish(7, 0)