466 lines
236 KiB
JSON
466 lines
236 KiB
JSON
//根据电机轴角度，计算四个腿的之态 ，机器人结构包括初始化
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{
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"msg": "运动学测试",
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"req_code": "DEBUG_001",
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"req_from": "debugger",
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"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
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"req_param": {
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"GaitInfo": {
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"GaitType": "trot",
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"Period": 0.8,
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"Frequency": 50.0,
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"StepTime": 0.02,
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"SupportTime": 0.4,
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"SwingTime": 0.4,
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"SupportRatio": 0.5,
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"SwingRatio": 0.5,
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"TotalFrames": 40,
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"TotalTime": 0.8
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},
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"SystemParameters": {
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"A_x": 0.0,
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"A_y": 500.0,
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"L10": 300.0,
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"L20": 286.0,
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"L30": 55.0,
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"StepLength": 60.0,
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"StepHeight": 50.0,
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"X": 30.0,
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"DeltaX": 0.0,
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"L21": 70.0,
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"L22": 292.0,
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"L23": 80.0,
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"Beta1": 166.0,
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"BB2_BC_Angle": 3.3859387489,
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"C1_B_Length": 107.0,
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"CC1": 179.0,
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"L31": 32.0,
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"C2C3_Length": 32.0,
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"Lead": 10.0,
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"D1_L_Offset": 90.0,
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"D2_L_Offset": 50.0,
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"C4_D2_Offset": 18.0,
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"ThighMotorReduction": 1.0,
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"ShankMotorReduction": 1.0,
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"AnkleMotorReduction": 1.0
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},
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"ModelID": {
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"LF": [
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{
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"A_B": "6b6243e3-42f6-422f-953d-e5067defe496"
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},
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{
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"A_B1": "64cb1022-d31c-47dd-93ba-05d5e809f5fc"
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},
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{
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"B1_B2": "ea2129dc-7e67-409f-a179-0b92d4ebfde7"
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},
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{
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"B_C": "a29577a4-2585-4dd0-8a42-e4119946c48d"
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},
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{
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"C2_C3": "7c934822-4b62-458a-a7b6-e4db93494e98"
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},
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{
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"C4_C3": "4350a961-2d7b-476e-89e2-626ae87cd770"
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},
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{
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"C_C4": "b00c3442-081e-4436-96f8-9d1f26ffc3ba"
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}
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],
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"LH": [
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{
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"A_B": "18465e41-5edc-41b3-9ffe-629df5f01f54"
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},
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{
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"A_B1": "2b2c8edc-d0f6-43e0-8879-11f8f5ae9062"
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},
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{
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"B1_B2": "77168aa6-d713-482f-8783-e50a7cac201b"
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},
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{
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"B_C": "e9f937e5-1c8c-42f0-8c9a-6573fca012fd"
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},
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{
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"C2_C3": "04bdfae0-f6b4-40b5-a6c6-0f269065845b"
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},
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{
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"C4_C3": "a84326a9-fec7-4b0d-abea-9fd28e72a898"
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},
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{
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"C_C4": "19f64283-19b0-4672-bb83-144c20d0902e"
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}
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],
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"RF": [
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{
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"A_B": "40ecce28-6457-4052-a0d7-a1ca2b2a758e"
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},
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{
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"A_B1": "1d4c294a-ea5b-4f31-a8d7-978fe5d070cc"
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},
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{
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"B1_B2": "d67149a8-b9a8-4538-a387-0f01c97793dc"
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},
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{
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"B_C": "6ee6e0ea-6b43-4d80-b852-b33643448e94"
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},
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{
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"C2_C3": "099975df-0a2f-4c9d-b415-bc98e61d3cf6"
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},
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{
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"C4_C3": "5b106343-30ff-4d2d-a3b7-3ffc90bf0019"
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},
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{
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"C_C4": "b5f275f9-8f49-44aa-9dcf-859ddf0fc9c7"
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}
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],
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"RH": [
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{
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"A_B": "643c80b9-222d-4617-b3c8-82d4db7b692e"
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},
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{
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"A_B1": "4d04f0dd-8528-46b0-b205-8e0433e4c7bb"
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},
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{
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"B1_B2": "18a5d033-bd98-4ed7-96ed-a70fd21c44b1"
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},
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{
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"B_C": "2e9c91a9-c427-45fa-8ca4-be55b7916574"
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},
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{
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"C2_C3": "0dc7124d-e86e-413a-9743-57bc65dde135"
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},
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{
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"C4_C3": "9fca5ec6-46d1-4e50-8a8c-b2931c73594d"
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},
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{
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"C_C4": "00369f21-f96d-43a8-821c-3fc8c6ce9c03"
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}
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]
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},
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"Param": {
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"LF": {
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"thigh_angle_deg": -37.4784578338516,
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"shank_angle_deg": -22.4917532451628,
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"ankle_angle_deg": 0.0
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},
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"LH": {
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"thigh_angle_deg": -34.0564623655754,
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"shank_angle_deg": -22.1353106546916,
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"ankle_angle_deg": 0.0
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},
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"RF": {
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"thigh_angle_deg": 34.0564623655754,
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"shank_angle_deg": 22.1353106546916,
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"ankle_angle_deg": 0.0
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},
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"RH": {
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"thigh_angle_deg": 37.4784578338516,
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"shank_angle_deg": 22.4917532451628,
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"ankle_angle_deg": 0.0
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}
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},
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"RobotBody": {
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"BodyCode": "7ec2aade-c45a-4bf8-8bb3-d1e0db5df9f6",
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"x": -3.24,
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"y": -0.12,
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"z": 560.4,
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"qx": 0,
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"qy": 0,
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"qz": 0,
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"qw": 1
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},
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"t_percentage": 1
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}
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}
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// 返回的一帧数据JSON数据 直接驱动
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{"code":0,"msg":"默认","req_cmd":"Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles","req_code":"9e06e383-7171-4986-8113-c683410b295c","req_from":"dmt3D","res_data":{"attachs":[],"crafts":[],"objStates":[{"i":"6b6243e3-42f6-422f-953d-e5067defe496","qw":"0.917552","qx":"0.000000","qy":"0.000000","qz":"0.397615","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"64cb1022-d31c-47dd-93ba-05d5e809f5fc","qw":"0.854593","qx":"0.000000","qy":"0.000000","qz":"-0.519298","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"ea2129dc-7e67-409f-a179-0b92d4ebfde7","qw":"0.922633","qx":"0.000000","qy":"0.000000","qz":"0.385679","tx":"0.032246","ty":"-0.062130","tz":"0"},{"i":"a29577a4-2585-4dd0-8a42-e4119946c48d","qw":"0.440238","qx":"0.000000","qy":"0.000000","qz":"0.897881","tx":"0.205141","ty":"0.218899","tz":"0"},{"i":"7c934822-4b62-458a-a7b6-e4db93494e98","qw":"0.944528","qx":"0.000000","qy":"0.000000","qz":"0.328431","tx":"0.164914","ty":"0.323086","tz":"0"},{"i":"4350a961-2d7b-476e-89e2-626ae87cd770","qw":"0.900120","qx":"0.000000","qy":"0.000000","qz":"-0.435643","tx":"0.080001","ty":"0.481999","tz":"0"},{"i":"b00c3442-081e-4436-96f8-9d1f26ffc3ba","qw":"0.949699","qx":"0.000000","qy":"0.000000","qz":"0.313165","tx":"0.030000","ty":"0.445000","tz":"0"},{"i":"18465e41-5edc-41b3-9ffe-629df5f01f54","qw":"0.888730","qx":"0.000000","qy":"0.000000","qz":"0.458432","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"2b2c8edc-d0f6-43e0-8879-11f8f5ae9062","qw":"0.887589","qx":"0.000000","qy":"0.000000","qz":"-0.460637","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"77168aa6-d713-482f-8783-e50a7cac201b","qw":"0.894600","qx":"0.000000","qy":"0.000000","qz":"0.446867","tx":"0.040294","ty":"-0.057240","tz":"0"},{"i":"e9f937e5-1c8c-42f0-8c9a-6573fca012fd","qw":"0.378846","qx":"0.000000","qy":"0.000000","qz":"0.925460","tx":"0.173904","ty":"0.244453","tz":"0"},{"i":"04bdfae0-f6b4-40b5-a6c6-0f269065845b","qw":"0.919330","qx":"0.000000","qy":"0.000000","qz":"0.393488","tx":"0.120057","ty":"0.342297","tz":"0"},{"i":"a84326a9-fec7-4b0d-abea-9fd28e72a898","qw":"0.928302","qx":"0.000000","qy":"0.000000","qz":"-0.371828","tx":"0.020000","ty":"0.482000","tz":"0"},{"i":"19f64283-19b0-4672-bb83-144c20d0902e","qw":"0.949695","qx":"0.000000","qy":"0.000000","qz":"0.313176","tx":"-0.030000","ty":"0.445000","tz":"0"},{"i":"40ecce28-6457-4052-a0d7-a1ca2b2a758e","qw":"0.888730","qx":"0.000000","qy":"0.000000","qz":"0.458432","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"1d4c294a-ea5b-4f31-a8d7-978fe5d070cc","qw":"0.887589","qx":"0.000000","qy":"0.000000","qz":"-0.460637","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"d67149a8-b9a8-4538-a387-0f01c97793dc","qw":"0.894600","qx":"0.000000","qy":"0.000000","qz":"0.446867","tx":"0.040294","ty":"-0.057240","tz":"0"},{"i":"6ee6e0ea-6b43-4d80-b852-b33643448e94","qw":"0.378846","qx":"0.000000","qy":"0.000000","qz":"0.925460","tx":"0.173904","ty":"0.244453","tz":"0"},{"i":"099975df-0a2f-4c9d-b415-bc98e61d3cf6","qw":"0.919330","qx":"0.000000","qy":"0.000000","qz":"0.393488","tx":"0.120057","ty":"0.342297","tz":"0"},{"i":"5b106343-30ff-4d2d-a3b7-3ffc90bf0019","qw":"0.928302","qx":"0.000000","qy":"0.000000","qz":"-0.371828","tx":"0.019999","ty":"0.482001","tz":"0"},{"i":"b5f275f9-8f49-44aa-9dcf-859ddf0fc9c7","qw":"0.949692","qx":"0.000000","qy":"0.000000","qz":"0.313186","tx":"-0.030000","ty":"0.445000","tz":"0"},{"i":"643c80b9-222d-4617-b3c8-82d4db7b692e","qw":"0.917552","qx":"0.000000","qy":"0.000000","qz":"0.397615","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"4d04f0dd-8528-46b0-b205-8e0433e4c7bb","qw":"0.854593","qx":"0.000000","qy":"0.000000","qz":"-0.519298","tx":"0.000000","ty":"0.000000","tz":"0"},{"i":"18a5d033-bd98-4ed7-96ed-a70fd21c44b1","qw":"0.922633","qx":"0.000000","qy":"0.000000","qz":"0.385679","tx":"0.032246","ty":"-0.062130","tz":"0"},{"i":"2e9c91a9-c427-45fa-8ca4-be55b7916574","qw":"0.440238","qx":"0.000000","qy":"0.000000","qz":"0.897881","tx":"0.205141","ty":"0.218899","tz":"0"},{"i":"0dc7124d-e86e-413a-9743-57bc65dde135","qw":"0.944528","qx":"0.000000","qy":"0.000000","qz":"0.328431","tx":"0.164914","ty":"0.323086","tz":"0"},{"i":"9fca5ec6-46d1-4e50-8a8c-b2931c73594d","qw":"0.900120","qx":"0.000000","qy":"0.000000","qz":"-0.435643","tx":"0.080001","ty":"0.481999","tz":"0"},{"i":"00369f21-f96d-43a8-821c-3fc8c6ce9c03","qw":"0.949699","qx":"0.000000","qy":"0.000000","qz":"0.313165","tx":"0.030000","ty":"0.445000","tz":"0"},{"i":"7ec2aade-c45a-4bf8-8bb3-d1e0db5df9f6","qw":"1.000000","qx":"0.000000","qy":"0.000000","qz":"0.000000","tx":"-0.003240","ty":"-0.000120","tz":"0.560400"}],"rotations":[],"signalwrites":[],"time":"0.01","visibles":[],"waits":[]},"success":true,"timestamp":1772435953}
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{
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"msg": "运动学测试",
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"req_code": "DEBUG_001",
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"req_from": "debugger",
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"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
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"req_param": {
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"ModelID": {
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"LF": [
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{
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"A_B": "6b6243e3-42f6-422f-953d-e5067defe496"
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},
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{
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"A_B1": "64cb1022-d31c-47dd-93ba-05d5e809f5fc"
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},
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{
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"B1_B2": "ea2129dc-7e67-409f-a179-0b92d4ebfde7"
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},
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{
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"B_C": "a29577a4-2585-4dd0-8a42-e4119946c48d"
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},
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{
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"C2_C3": "7c934822-4b62-458a-a7b6-e4db93494e98"
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},
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{
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"C4_C3": "4350a961-2d7b-476e-89e2-626ae87cd770"
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},
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{
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"C_C4": "b00c3442-081e-4436-96f8-9d1f26ffc3ba"
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}
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],
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"LH": [
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{
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"A_B": "18465e41-5edc-41b3-9ffe-629df5f01f54"
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},
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{
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"A_B1": "2b2c8edc-d0f6-43e0-8879-11f8f5ae9062"
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},
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{
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"B1_B2": "77168aa6-d713-482f-8783-e50a7cac201b"
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},
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{
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"B_C": "e9f937e5-1c8c-42f0-8c9a-6573fca012fd"
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},
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{
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"C2_C3": "04bdfae0-f6b4-40b5-a6c6-0f269065845b"
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},
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{
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"C4_C3": "a84326a9-fec7-4b0d-abea-9fd28e72a898"
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},
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{
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"C_C4": "19f64283-19b0-4672-bb83-144c20d0902e"
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}
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],
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"RF": [
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{
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"A_B": "40ecce28-6457-4052-a0d7-a1ca2b2a758e"
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},
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{
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"A_B1": "1d4c294a-ea5b-4f31-a8d7-978fe5d070cc"
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},
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{
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"B1_B2": "d67149a8-b9a8-4538-a387-0f01c97793dc"
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},
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{
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"B_C": "6ee6e0ea-6b43-4d80-b852-b33643448e94"
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},
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{
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"C2_C3": "099975df-0a2f-4c9d-b415-bc98e61d3cf6"
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},
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{
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"C4_C3": "5b106343-30ff-4d2d-a3b7-3ffc90bf0019"
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},
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{
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"C_C4": "b5f275f9-8f49-44aa-9dcf-859ddf0fc9c7"
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}
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],
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"RH": [
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{
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"A_B": "643c80b9-222d-4617-b3c8-82d4db7b692e"
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},
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{
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"A_B1": "4d04f0dd-8528-46b0-b205-8e0433e4c7bb"
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},
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{
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"B1_B2": "18a5d033-bd98-4ed7-96ed-a70fd21c44b1"
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},
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{
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"B_C": "2e9c91a9-c427-45fa-8ca4-be55b7916574"
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},
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{
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"C2_C3": "0dc7124d-e86e-413a-9743-57bc65dde135"
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},
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{
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"C4_C3": "9fca5ec6-46d1-4e50-8a8c-b2931c73594d"
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},
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{
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"C_C4": "00369f21-f96d-43a8-821c-3fc8c6ce9c03"
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}
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]
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},
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"Param": {
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"LF": {
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"thigh_angle_deg": 14.5,
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"shank_angle_deg": 26.0,
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"ankle_angle_deg": 11.0
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},
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"LH": {
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"thigh_angle_deg": 14.5,
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"shank_angle_deg": 26.0,
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"ankle_angle_deg": 11.0
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},
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"RF": {
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"thigh_angle_deg": 14.5,
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"shank_angle_deg": 26.0,
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"ankle_angle_deg": 11.0
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},
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"RH": {
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"thigh_angle_deg": 14.5,
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"shank_angle_deg": 26.0,
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"ankle_angle_deg": 11.0
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}
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},
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"RobotBody": {
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"BodyCode": "7ec2aade-c45a-4bf8-8bb3-d1e0db5df9f6",
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"x": -3.24,
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"y": -0.12,
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"z": 560.4,
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"qx": 0,
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"qy": 0,
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"qz": 0,
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"qw": 1
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},
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"t_percentage": 1
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}
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}
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//根据电机轴角度，计算四个腿的之态，包括机器人初始化
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{
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"msg": "运动学测试",
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"req_code": "DEBUG_001",
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"req_from": "debugger",
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"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
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"req_param": {}
|
|
}
|
|
//根据电机轴角度，计算四个腿的之态
|
|
{
|
|
"msg": "运动学测试",
|
|
"req_code": "DEBUG_001",
|
|
"req_from": "debugger",
|
|
"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
|
|
"req_param": {
|
|
"Param": {
|
|
"LF": {
|
|
"thigh_angle_deg": -37.4784578338516,
|
|
"shank_angle_deg": -22.4917532451628,
|
|
"ankle_angle_deg": 0.0
|
|
},
|
|
"LH": {
|
|
"thigh_angle_deg": -34.0564623655754,
|
|
"shank_angle_deg": -22.1353106546916,
|
|
"ankle_angle_deg": 0.0
|
|
},
|
|
"RF": {
|
|
"thigh_angle_deg": 34.0564623655754,
|
|
"shank_angle_deg": 22.1353106546916,
|
|
"ankle_angle_deg": 0.0
|
|
},
|
|
"RH": {
|
|
"thigh_angle_deg": 37.4784578338516,
|
|
"shank_angle_deg": 22.4917532451628,
|
|
"ankle_angle_deg": 0.0
|
|
}
|
|
}
|
|
}
|
|
}
|
|
//获得机器人步态数据和电机轴数据，可以用于仿真
|
|
{
|
|
"msg": "运动学测试",
|
|
"req_code": "DEBUG_001",
|
|
"req_from": "debugger",
|
|
"req_cmd": "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
|
|
"req_param": {
|
|
"GaitInfo": {
|
|
"GaitType": "trot",
|
|
"Period": 0.8,
|
|
"Frequency": 50.0,
|
|
"StepTime": 0.02,
|
|
"SupportTime": 0.4,
|
|
"SwingTime": 0.4,
|
|
"SupportRatio": 0.5,
|
|
"SwingRatio": 0.5,
|
|
"TotalFrames": 40,
|
|
"TotalTime": 0.8
|
|
},
|
|
"SystemParameters": {
|
|
"A_x": 0.0,
|
|
"A_y": 500.0,
|
|
"L10": 300.0,
|
|
"L20": 286.0,
|
|
"L30": 55.0,
|
|
"StepLength": 60.0,
|
|
"StepHeight": 50.0,
|
|
"X": 30.0,
|
|
"DeltaX": 0.0,
|
|
"L21": 70.0,
|
|
"L22": 292.0,
|
|
"L23": 80.0,
|
|
"Beta1": 166.0,
|
|
"BB2_BC_Angle": 3.3859387489,
|
|
"C1_B_Length": 107.0,
|
|
"CC1": 179.0,
|
|
"L31": 32.0,
|
|
"C2C3_Length": 32.0,
|
|
"Lead": 10.0,
|
|
"D1_L_Offset": 90.0,
|
|
"D2_L_Offset": 50.0,
|
|
"C4_D2_Offset": 18.0,
|
|
"ThighMotorReduction": 1.0,
|
|
"ShankMotorReduction": 1.0,
|
|
"AnkleMotorReduction": 1.0
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
{
|
|
"msg": "运动学测试",
|
|
"req_code": "DEBUG_001",
|
|
"req_from": "debugger",
|
|
"req_cmd": "Cmd_QuadrupedRobot_PerformForwardKinematics",
|
|
"req_param": {}
|
|
}
|
|
|
|
|
|
|
|
|
|
{
|
|
"msg": "运动学测试",
|
|
"req_code": "DEBUG_001",
|
|
"req_from": "debugger",
|
|
"req_cmd": "Cmd_QuadrupedRobot_PerformForwardKinematics",
|
|
"req_param": {
|
|
"GaitInfo": {
|
|
"GaitType": "trot",
|
|
"Period": 0.8,
|
|
"Frequency": 50.0,
|
|
"StepTime": 0.02,
|
|
"SupportTime": 0.4,
|
|
"SwingTime": 0.4,
|
|
"SupportRatio": 0.5,
|
|
"SwingRatio": 0.5,
|
|
"TotalFrames": 40,
|
|
"TotalTime": 0.8
|
|
},
|
|
"SystemParameters": {
|
|
"A_x": 0.0,
|
|
"A_y": 500.0,
|
|
"L10": 300.0,
|
|
"L20": 286.0,
|
|
"L30": 55.0,
|
|
"StepLength": 60.0,
|
|
"StepHeight": 50.0,
|
|
"X": 30.0,
|
|
"DeltaX": 0.0,
|
|
"L21": 70.0,
|
|
"L22": 292.0,
|
|
"L23": 80.0,
|
|
"Beta1": 166.0,
|
|
"BB2_BC_Angle": 3.3859387489,
|
|
"C1_B_Length": 107.0,
|
|
"CC1": 179.0,
|
|
"L31": 32.0,
|
|
"C2C3_Length": 32.0,
|
|
"Lead": 10.0,
|
|
"D1_L_Offset": 90.0,
|
|
"D2_L_Offset": 50.0,
|
|
"C4_D2_Offset": 18.0,
|
|
"ThighMotorReduction": 1.0,
|
|
"ShankMotorReduction": 1.0,
|
|
"AnkleMotorReduction": 1.0
|
|
}
|
|
}
|
|
}
|
|
|
|
// 返回的40组电机数据
|
|
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