<!DOCTYPE html> <html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="X-UA-Compatible" content="IE=Edge"> <link rel="stylesheet" href="/fourier-grx-M4/assets/css/just-the-docs-default.css"> <link rel="stylesheet" href="/fourier-grx-M4/assets/css/just-the-docs-head-nav.css" id="jtd-head-nav-stylesheet"> <style id="jtd-nav-activation"> .site-nav ul li a { background-image: none; } </style> <script src="/fourier-grx-M4/assets/js/vendor/lunr.min.js"></script> <script src="/fourier-grx-M4/assets/js/just-the-docs.js"></script> <meta name="viewport" content="width=device-width, initial-scale=1"> <!-- Begin Jekyll SEO tag v2.8.0 --> <title>Fourier-GRX-M4 SDK | 开发文档</title> <meta name="generator" content="Jekyll v3.10.0" /> <meta property="og:title" content="Fourier-GRX-M4 SDK" /> <meta property="og:locale" content="en_US" /> <meta name="description" content="开发文档" /> <meta property="og:description" content="开发文档" /> <link rel="canonical" href="https://fftai.github.io/fourier-grx-M4/assets/css/just-the-docs-head-nav.css" /> <meta property="og:url" content="https://fftai.github.io/fourier-grx-M4/assets/css/just-the-docs-head-nav.css" /> <meta property="og:site_name" content="Fourier-GRX-M4 SDK" /> <meta property="og:type" content="website" /> <meta name="twitter:card" content="summary" /> <meta property="twitter:title" content="Fourier-GRX-M4 SDK" /> <script type="application/ld+json"> {"@context":"https://schema.org","@type":"WebPage","description":"开发文档","headline":"Fourier-GRX-M4 SDK","publisher":{"@type":"Organization","logo":{"@type":"ImageObject","url":"https://fftai.github.io/fourier-grx-M4/assets/images/fourier_logo.png"}},"url":"https://fftai.github.io/fourier-grx-M4/assets/css/just-the-docs-head-nav.css"}</script> <!-- End Jekyll SEO tag --> </head> <body> <a class="skip-to-main" href="#main-content">Skip to main content</a> <svg xmlns="http://www.w3.org/2000/svg" class="d-none"> <symbol id="svg-link" viewBox="0 0 24 24"> <title>Link</title> <svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-link"> <path d="M10 13a5 5 0 0 0 7.54.54l3-3a5 5 0 0 0-7.07-7.07l-1.72 1.71"></path><path d="M14 11a5 5 0 0 0-7.54-.54l-3 3a5 5 0 0 0 7.07 7.07l1.71-1.71"></path> </svg> </symbol> <symbol id="svg-menu" viewBox="0 0 24 24"> <title>Menu</title> <svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-menu"> <line x1="3" y1="12" x2="21" y2="12"></line><line x1="3" y1="6" x2="21" y2="6"></line><line x1="3" y1="18" x2="21" y2="18"></line> </svg> </symbol> <symbol id="svg-arrow-right" viewBox="0 0 24 24"> <title>Expand</title> <svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-chevron-right"> <polyline points="9 18 15 12 9 6"></polyline> </svg> </symbol> <!-- Feather. MIT License: https://github.com/feathericons/feather/blob/master/LICENSE --> <symbol id="svg-external-link" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-external-link"> <title id="svg-external-link-title">(external link)</title> <path d="M18 13v6a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2V8a2 2 0 0 1 2-2h6"></path><polyline points="15 3 21 3 21 9"></polyline><line x1="10" y1="14" x2="21" y2="3"></line> </symbol> <symbol id="svg-doc" viewBox="0 0 24 24"> <title>Document</title> <svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-file"> <path d="M13 2H6a2 2 0 0 0-2 2v16a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V9z"></path><polyline points="13 2 13 9 20 9"></polyline> </svg> </symbol> <symbol id="svg-search" viewBox="0 0 24 24"> <title>Search</title> <svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round" class="feather feather-search"> <circle cx="11" cy="11" r="8"></circle><line x1="21" y1="21" x2="16.65" y2="16.65"></line> </svg> </symbol> <!-- Bootstrap Icons. MIT License: https://github.com/twbs/icons/blob/main/LICENSE.md --> <symbol id="svg-copy" viewBox="0 0 16 16"> <title>Copy</title> <svg xmlns="http://www.w3.org/2000/svg" width="16" height="16" fill="currentColor" class="bi bi-clipboard" viewBox="0 0 16 16"> <path d="M4 1.5H3a2 2 0 0 0-2 2V14a2 2 0 0 0 2 2h10a2 2 0 0 0 2-2V3.5a2 2 0 0 0-2-2h-1v1h1a1 1 0 0 1 1 1V14a1 1 0 0 1-1 1H3a1 1 0 0 1-1-1V3.5a1 1 0 0 1 1-1h1v-1z"/> <path d="M9.5 1a.5.5 0 0 1 .5.5v1a.5.5 0 0 1-.5.5h-3a.5.5 0 0 1-.5-.5v-1a.5.5 0 0 1 .5-.5h3zm-3-1A1.5 1.5 0 0 0 5 1.5v1A1.5 1.5 0 0 0 6.5 4h3A1.5 1.5 0 0 0 11 2.5v-1A1.5 1.5 0 0 0 9.5 0h-3z"/> </svg> </symbol> <symbol id="svg-copied" viewBox="0 0 16 16"> <title>Copied</title> <svg xmlns="http://www.w3.org/2000/svg" width="16" height="16" fill="currentColor" class="bi bi-clipboard-check-fill" viewBox="0 0 16 16"> <path d="M6.5 0A1.5 1.5 0 0 0 5 1.5v1A1.5 1.5 0 0 0 6.5 4h3A1.5 1.5 0 0 0 11 2.5v-1A1.5 1.5 0 0 0 9.5 0h-3Zm3 1a.5.5 0 0 1 .5.5v1a.5.5 0 0 1-.5.5h-3a.5.5 0 0 1-.5-.5v-1a.5.5 0 0 1 .5-.5h3Z"/> <path d="M4 1.5H3a2 2 0 0 0-2 2V14a2 2 0 0 0 2 2h10a2 2 0 0 0 2-2V3.5a2 2 0 0 0-2-2h-1v1A2.5 2.5 0 0 1 9.5 5h-3A2.5 2.5 0 0 1 4 2.5v-1Zm6.854 7.354-3 3a.5.5 0 0 1-.708 0l-1.5-1.5a.5.5 0 0 1 .708-.708L7.5 10.793l2.646-2.647a.5.5 0 0 1 .708.708Z"/> </svg> </symbol> </svg> <header class="side-bar"> <div class="site-header"> <a href="/fourier-grx-M4/" class="site-title lh-tight"> <div class="site-logo" role="img" aria-label="Fourier-GRX-M4 SDK"></div> </a> <button id="menu-button" class="site-button btn-reset" aria-label="Menu" aria-expanded="false"> <svg viewBox="0 0 24 24" class="icon" aria-hidden="true"><use xlink:href="#svg-menu"></use></svg> </button> </div> <nav aria-label="Main" id="site-nav" class="site-nav"> <ul class="nav-list"><li class="nav-list-item"><a href="/fourier-grx-M4/" class="nav-list-link">Fourier-GRX-M4 SDK</a></li><li class="nav-list-item"><button class="nav-list-expander btn-reset" aria-label="快速开始 submenu" aria-expanded="false"> <svg viewBox="0 0 24 24" aria-hidden="true"><use xlink:href="#svg-arrow-right"></use></svg> </button><a href="/fourier-grx-M4/docs/quickstart.html" class="nav-list-link">快速开始</a><ul class="nav-list"><li class="nav-list-item"><a href="/fourier-grx-M4/docs/quickstart/m4.html" class="nav-list-link">M4 机器人</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/quickstart/m4l.html" class="nav-list-link">M4L 机器人</a></li></ul></li><li class="nav-list-item"><button class="nav-list-expander btn-reset" aria-label="示例代码 submenu" aria-expanded="false"> <svg viewBox="0 0 24 24" aria-hidden="true"><use xlink:href="#svg-arrow-right"></use></svg> </button><a href="/fourier-grx-M4/docs/examples.html" class="nav-list-link">示例代码</a><ul class="nav-list"><li class="nav-list-item"><a href="/fourier-grx-M4/docs/examples/user.html" class="nav-list-link">User 接口</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/examples/developer.html" class="nav-list-link">Developer 接口</a></li></ul></li><li class="nav-list-item"><button class="nav-list-expander btn-reset" aria-label="参考指南 submenu" aria-expanded="false"> <svg viewBox="0 0 24 24" aria-hidden="true"><use xlink:href="#svg-arrow-right"></use></svg> </button><a href="/fourier-grx-M4/docs/reference.html" class="nav-list-link">参考指南</a><ul class="nav-list"><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/user.html" class="nav-list-link">User 接口</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/developer.html" class="nav-list-link">Developer 接口</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/joint_sequence.html" class="nav-list-link">机器人关节序列</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/config_file.html" class="nav-list-link">启动配置文件</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/resource_file.html" class="nav-list-link">资源文件</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/run_type.html" class="nav-list-link">运行模式</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/command_line_tool.html" class="nav-list-link">命令行工具</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/reference/actuator_error_code.html" class="nav-list-link">执行器错误码</a></li></ul></li><li class="nav-list-item"><button class="nav-list-expander btn-reset" aria-label="任务描述 submenu" aria-expanded="false"> <svg viewBox="0 0 24 24" aria-hidden="true"><use xlink:href="#svg-arrow-right"></use></svg> </button><a href="/fourier-grx-M4/docs/tasks.html" class="nav-list-link">任务描述</a><ul class="nav-list"><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/mark_time_passive.html" class="nav-list-link">被动原地踏步</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/servo_on.html" class="nav-list-link">执行器使能</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/mark_time_assist_adjust_pd.html" class="nav-list-link">助力原地踏步（调整 PD 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/mark_time_assist_adjust_dt.html" class="nav-list-link">助力原地踏步（调整 dt 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_stand_motion_control.html" class="nav-list-link">站立姿态控制（膝关节受限）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_forward_walk_passive.html" class="nav-list-link">被动前向行走（膝关节受限）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_forward_walk_assist_adjust_pd.html" class="nav-list-link">助力前向行走（膝关节受限, 调整 PD 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_forward_walk_assist_adjust_dt.html" class="nav-list-link">助力前向行走（膝关节受限, 调整 dt 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_mark_time_passive.html" class="nav-list-link">被动原地踏步（膝关节受限）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_mark_time_assist_adjust_pd.html" class="nav-list-link">助力原地踏步（膝关节受限, 调整 PD 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/knee_restriction_mark_time_assist_adjust_dt.html" class="nav-list-link">助力原地踏步（膝关节受限, 调整 dt 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/servo_off.html" class="nav-list-link">执行器失能</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/set_home_rotary_joint.html" class="nav-list-link">设置零点（旋转关节）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/calibrate_home_prismatic_joint.html" class="nav-list-link">校准零点（直线关节）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/move_length_prismatic_joint.html" class="nav-list-link">调整长度（直线关节）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/rotary_joint_auto_calibrate.html" class="nav-list-link">自动校准（旋转关节）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/servo_reboot.html" class="nav-list-link">执行器重启</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/clear_fault.html" class="nav-list-link">清除错误</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/set_home.html" class="nav-list-link">设置零点</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/stand_motion_control.html" class="nav-list-link">站立姿态控制</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/forward_walk_passive.html" class="nav-list-link">被动前向行走</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/forward_walk_assist_adjust_pd.html" class="nav-list-link">助力前向行走（调整 PD 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/forward_walk_assist_adjust_dt.html" class="nav-list-link">助力前向行走（调整 dt 参数）</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/tasks/planner.html" class="nav-list-link">规划器</a></li></ul></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/usage.html" class="nav-list-link">常用操作</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/faq.html" class="nav-list-link">常见问题</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/update.html" class="nav-list-link">固件更新</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/changelog.html" class="nav-list-link">更新日志</a></li><li class="nav-list-item"><a href="/fourier-grx-M4/docs/contributing.html" class="nav-list-link">贡献指南</a></li></ul> </nav> <div class="d-md-block d-none site-footer"> This site uses <a href="https://github.com/just-the-docs/just-the-docs">Just the Docs</a>, a documentation theme for Jekyll. </div> </header> <div class="main" id="top"> <div id="main-header" class="main-header"> <div class="search" role="search"> <div class="search-input-wrap"> <input type="text" id="search-input" class="search-input" tabindex="0" placeholder="Search Fourier-GRX-M4 SDK" autocomplete="off"> <label for="search-input" class="search-label"> <span class="sr-only">Search Fourier-GRX-M4 SDK</span> <svg viewBox="0 0 24 24" class="search-icon" aria-hidden="true"><use xlink:href="#svg-search"></use></svg> </label> </div> <div id="search-results" class="search-results"></div> </div> <nav aria-label="Auxiliary" class="aux-nav"> <ul class="aux-nav-list"> <li class="aux-nav-list-item"> <a href="//github.com/FFTAI/Wiki-GRx-Pipeline/tree/FourierM4" class="site-button" target="_blank" rel="noopener noreferrer" > GitHub 仓库 </a> </li> </ul> </nav> </div> <div class="main-content-wrap"> <div id="main-content" class="main-content"> <main> </main> <hr> <footer> <p><a href="#top" id="back-to-top">返回顶部</a></p> <p class="text-small mb-0">Copyright &copy; Fourier Intelligence</p> <div class="d-md-none mt-4 fs-2"> This site uses <a href="https://github.com/just-the-docs/just-the-docs">Just the Docs</a>, a documentation theme for Jekyll. </div> </footer> </div> </div> <div class="search-overlay"></div> </div> </body> </html>
