46 lines
1.1 KiB
TOML
46 lines
1.1 KiB
TOML
|
[[step]]
|
||
|
|
acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
contact = 0
|
||
|
|
ctrl_point = [0.0, 0.0, 0.0]
|
||
|
|
duration = 0 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
|
||
|
|
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
gait_id = 0
|
||
|
|
life_count = 0 #Fake value
|
||
|
|
mode = 12
|
||
|
|
pos_des = [0.0, 0.0, 0.0]
|
||
|
|
rpy_des = [0.0, 0.0, 0.0]
|
||
|
|
step_height = [0.0, 0.0]
|
||
|
|
value = 0
|
||
|
|
vel_des = [0.0, 0.0, 0.0]
|
||
|
|
|
||
|
|
[[step]]
|
||
|
|
|
||
|
|
acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
contact = 15
|
||
|
|
ctrl_point = [0.0, 0.0, 0.0]
|
||
|
|
duration = 15000
|
||
|
|
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
gait_id = 110
|
||
|
|
life_count = 0
|
||
|
|
mode = 62 # User define gait
|
||
|
|
pos_des = [0.0, 0.0, 0.0]
|
||
|
|
rpy_des = [0.0, 0.0, 0.0]
|
||
|
|
step_height = [0.0, 0.0]
|
||
|
|
value = 0
|
||
|
|
vel_des = [0.0, 0.0, 0.0] # velocity of x y yaw
|
||
|
|
|
||
|
|
# [[step]]
|
||
|
|
# acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
# contact = 0
|
||
|
|
# ctrl_point = [0.0, 0.0, 0.0]
|
||
|
|
# duration = 1000
|
||
|
|
# foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
|
||
|
|
# gait_id = 1 #采用受控趴下
|
||
|
|
# life_count = 0
|
||
|
|
# mode = 7 #Puredamper
|
||
|
|
# pos_des = [0.0, 0.0, 0.0]
|
||
|
|
# rpy_des = [0.0, 0.0, 0.0]
|
||
|
|
# step_height = [0.0, 0.0]
|
||
|
|
# value = 0
|
||
|
|
# vel_des = [0.0, 0.0, 0.0]
|