mi-task/sequential_motion/cyberdog2_ctrl.toml

[[step]]
mode = 12
gait_id = 0
contact = 0
life_count = 0 #Fake value
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 5000  # Expected execution time of Position interpolation control, For recovery stand need > 5.0S

[[step]]
mode = 21 #Position interpolation control
gait_id = 5
contact = 15 # 0b00001111  :15 Four legs  14:Up front right leg   13:Up front left leg  11:Up back right leg  7:Up back left leg
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.15,] # x y z， z:Absolute centroid height
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 21
gait_id = 5
contact = 15
life_count = 0
value = 0
duration = 400
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.25,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]

[[step]]
mode = 21
gait_id = 0
contact = 15
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, -0.25, 0.0,] # roll pich yaw
pos_des = [ 0.05, 0.05, -0.0,] # x y z, Right-handed coordinate system， +X:front +Y:Left  +Z:Up
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.1, 0.0, 0.0,] # x,y,z : Rotation point coordinates for roll pitch and yaw
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 500

[[step]]
mode = 21
gait_id = 0
contact = 11  # 0b00001111  :15 Four legs  14:Up front right leg   13:Up front left leg  11:Up back right leg  7:Up back left leg
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ -0.1, -0.1, 0.15, 0.0, 0.0, 0.0,] #x,y,z: Move distance of lifting foot along coordinate axis

step_height = [ 0.0, 0.0,]
value = 0
duration = 500


[[step]]
mode = 21
gait_id = 0
contact = 11
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, -0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 500



[[step]]
mode = 21
gait_id = 5
contact = 15
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.23,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 500

[[step]]
mode = 11 #locomotion
gait_id = 3
contact = 15
life_count = 0
vel_des = [ 0.0, 0.0, 0.5,] # velocity of x y yaw
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.06, 0.06,]
value = 0
duration = 3000

[[step]]
mode = 7 #Puredamper
gait_id = 0
contact = 0
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
ctrl_point = [ 0.0, 0.0, 0.0,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 0.0, 0.0,]
value = 0
duration = 4000