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bmy
2024-07-05 18:29:22 +08:00
parent f3e6bcc01f
commit 8acecadd2a
19 changed files with 18942 additions and 381 deletions
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55
cfg_subtask.toml
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@@ -1,92 +1,61 @@
################################################
[get_block]
# pid 参数值
pid_kp = 1.0
pid_kp = 1
pid_ki = 0
pid_kd = 0
first_block = "blue"
# *第一个抓取的方块
first_block = "red"
# first_block = "blue"
################################################
[put_block]
# pid 参数值
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
################################################
[get_bball]
# pid 参数值
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
################################################
[up_tower]
# pid 参数值
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
################################################
[get_rball]
# pid 参数值
pid_kp = 0.8
pid_kp = 0.5
pid_ki = 0
pid_kd = 0
################################################
[put_bball]
# pid 参数值
pid_kp = 0.6
pid_kp = 0.7
pid_ki = 0
pid_kd = 0
################################################
[put_hanoi1]
# pid 参数值
pid_kp = 1.0
pid_kp = 1
pid_ki = 0
pid_kd = 0
################################################
[put_hanoi2]
# pid 参数值
pid_kp = 1.0
pid_kp = 0.7
pid_ki = 0
pid_kd = 0
# 距离标定值
pos_gap = 160 # 标定值，两个放置位置的标定距离
# first_target = "lp"
pos_gap = 160
first_target = "mp"
# first_target = "sp"
################################################
[put_hanoi3]
# pid 参数值
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
################################################
[move_area]
# pid 参数值
pid_kp = 1.4
pid_ki = 0
pid_kd = 0
llm_enable = true
llm_enable = true # 大模型机器人
################################################
[kick_ass]
# pid 参数值
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
pos_gap1 = 150 # 目标牌和第一个 person 之间的距离
pos_gap2 = 80 # person 之间的距离
target_person = 3 # 击打的人 - 最靠近标识牌的为 1
################################################
pos_gap1 = 150
pos_gap2 = 80
target_person = 2