feat: 增加最後對準基地運行

feat: 增加原始模型參數和任務版本

cfg_subtask.toml.raw.bak

@@ -0,0 +1,61 @@
+[get_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+first_block = "blue"
+
+[put_block]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[get_bball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[up_tower]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+
+[get_rball]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+
+[put_bball]
+pid_kp = 1.8
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi1]
+pid_kp = 0.7
+pid_ki = 0
+pid_kd = 0
+
+[put_hanoi2]
+pid_kp = 1.0
+pid_ki = 0
+pid_kd = 0
+pos_gap = 160
+first_target = "mp"
+
+[put_hanoi3]
+pid_kp = 1.5
+pid_ki = 0
+pid_kd = 0
+
+[move_area]
+pid_kp = 1.2
+pid_ki = 0
+pid_kd = 0
+llm_enable = false
+
+[kick_ass]
+pid_kp = 0.8
+pid_ki = 0
+pid_kd = 0
+pos_gap1 = 150
+pos_gap2 = 80
+target_person = 1