mi-task/task_5/Usergait_List.toml

# User Gait List for Low Height Walking

[[step]]
mode = 11 # LOCOMOTION
gait_id = 110 # USERGAIT
vel_des = [0.0, 0.0, 0.0]
rpy_des = [0.0, 0.0, 0.0]
pos_des = [0.0, 0.0, -0.1] # 低体高
acc_des = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
ctrl_point = [0.0, 0.0, 0.4]
step_height = [0.0, 0.0]
value = 0
contact = 10
duration = 5000 # 5秒执行步态
refactor(detect_track): enhance edge detection and improve track following logic - Update detect_horizontal_track_edge_v3 function for better edge detection accuracy. - Refine parameters in follow_left_side_track function to improve stability and responsiveness. - Adjust logging for clarity and maintainability. 2025-05-26 12:29:48 +00:00			`# User Gait List for Low Height Walking`

			`[[step]]`
			`mode = 11 # LOCOMOTION`
			`gait_id = 110 # USERGAIT`
			`vel_des = [0.0, 0.0, 0.0]`
			`rpy_des = [0.0, 0.0, 0.0]`
			`pos_des = [0.0, 0.0, -0.1] # 低体高`
			`acc_des = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]`
			`foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]`
			`ctrl_point = [0.0, 0.0, 0.4]`
			`step_height = [0.0, 0.0]`
			`value = 0`
			`contact = 10`
			`duration = 5000 # 5秒执行步态`