62 lines
1.3 KiB
TOML
62 lines
1.3 KiB
TOML
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# Gait Params
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[[step]]
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mode = 11
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gait_id = 110
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contact = 10
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life_count = 0
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vel_des = [ 0.1, 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, 0.1,]
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acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
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ctrl_point = [ 0.0, 0.0, 0.4,]
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foot_pose = [ 0.0, 0.0, 0.07, 0.0, 0.0, 0.0,]
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step_height = [ 100000.0, 0.0,]
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value = 1
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duration = 300
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[[step]]
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mode = 11
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gait_id = 110
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contact = 10
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life_count = 0
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vel_des = [ 0.1, 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, 0.1,]
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acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,]
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ctrl_point = [ 0.0, 0.0, 0.4,]
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foot_pose = [ 0.07, 0.0, 0.0, 0.0, 0.0, 0.0,]
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step_height = [ 100.0, 0.0,]
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value = 1
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duration = 300
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[[step]]
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mode = 11
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gait_id = 110
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contact = 10
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life_count = 0
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vel_des = [ 0.1, 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, 0.1,]
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acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,]
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ctrl_point = [ 0.07, 0.0, 0.4,]
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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, 100000.0,]
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value = 1
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duration = 300
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[[step]]
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mode = 11
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gait_id = 110
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contact = 10
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life_count = 0
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vel_des = [ 0.1, 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, 0.1,]
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acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,]
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ctrl_point = [ 0.0, 0.0, 0.4,]
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foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.07, 0.0,]
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step_height = [ 0.0, 100.0,]
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value = 1
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duration = 300
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