112 lines
3.0 KiB
TOML
112 lines
3.0 KiB
TOML
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# Front lift
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# Beginning of front lift #
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[[step]]
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type = "torctrlposture"
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foot_support = [1.0, 1.0, 1.0, 1.0]
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body_cmd = [0.0, 0.0, 0.0, -0.10, 0.0, 0.0]
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foot_pose = [0.0, 0.0, 0.0]
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duration = 1000
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.0, -0.03, 0.0, 0.0, 0.03, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 480
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.0, 0.03, 0.0, 0.0, -0.03, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 480
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.0, -0.03, 0.0, 0.0, 0.03, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 480
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.0, 0.03, 0.0, 0.0, -0.03, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 480
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.0, -0.03, 0.0, 0.0, 0.03, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 480
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[[step]]
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type = "usergait"
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body_vel_des = [0.0, 0.0, 0.0]
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body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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landing_pos_des = [0.05, -0.00, 0.0, 0.05, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, -0.00, 0.0]
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step_height = [0.035, 0.035, 0.02, 0.02]
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weight = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
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use_mpc_traj = 0
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mu = 0.30
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landing_gain = 1.0
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gait_id = 81
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duration = 750
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# End of front lift #
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# Stand
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[[step]]
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type = "torctrlposture"
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foot_support = [1.0, 1.0, 1.0, 1.0]
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body_cmd = [0.0, 0.0, 0.0, 0.10, 0.0, 0.0]
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foot_pose = [0.0, 0.0, 0.0]
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duration = 1000
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[[step]]
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type = "locomotion"
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vel_des = [0.0, 0.0, 0.0]
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omni = 0
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gait_id = 31
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duration = 1000
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# RecoveryStand
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[[step]]
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type = "recoverystand"
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duration = 1000
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