46 lines
1.1 KiB
TOML
46 lines
1.1 KiB
TOML
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[[step]]
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mode = 12
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gait_id = 0
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contact = 0
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life_count = 0 #Fake value
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vel_des = [ 0.0, 0.0, 0.0,]
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rpy_des = [ 0.0, 0.0, 0.0,]
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pos_des = [ 0.0, 0.0, 0.0,]
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acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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ctrl_point = [ 0.0, 0.0, 0.0,]
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foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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step_height = [ 0.0, 0.0,]
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value = 0
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duration = 5000 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
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[[step]]
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mode = 62 # User define gait
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gait_id = 110
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contact = 15
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life_count = 0
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vel_des = [ 0.0, 0.0, 0.0,] # velocity of x y yaw
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rpy_des = [ 0.0, 0.0, 0.0,]
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pos_des = [ 0.0, 0.0, 0.0,]
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acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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ctrl_point = [ 0.0, 0.0, 0.0,]
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foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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step_height = [ 0.0, 0.0,]
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value = 0
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duration = 4320
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[[step]]
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mode = 7 #Puredamper
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gait_id = 0
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contact = 0
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life_count = 0
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vel_des = [ 0.0, 0.0, 0.0,]
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rpy_des = [ 0.0, 0.0, 0.0,]
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pos_des = [ 0.0, 0.0, 0.0,]
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acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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ctrl_point = [ 0.0, 0.0, 0.0,]
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foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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step_height = [ 0.0, 0.0,]
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value = 0
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duration = 4000
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