diff --git a/logs/robot_2025-05-26.log b/logs/robot_2025-05-26.log
index c68d2ee..b77f2e4 100644
--- a/logs/robot_2025-05-26.log
+++ b/logs/robot_2025-05-26.log
@@ -28,3 +28,36 @@
 2025-05-26 00:25:13 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/original_20250526_002513_050661.jpg
 2025-05-26 00:25:13 | INFO     | utils.log_helper - ℹ️ 保存左侧轨迹线检测结果图像到: logs/image/left_track_20250526_002513_050661.jpg
 2025-05-26 00:25:13 | INFO     | utils.log_helper - ℹ️ 左侧轨迹线检测结果: {'timestamp': '20250526_002513_050661', 'tracking_point': (549, 1071), 'ground_intersection': (543, 1080), 'distance_to_left': 584.5, 'slope': -1.619718309859155, 'line_mid_x': 584.5}
+2025-05-26 14:57:53 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145753_084929.jpg
+2025-05-26 14:57:53 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145753_163732.jpg
+2025-05-26 14:57:53 | INFO     | utils.log_helper - ℹ️ 保存横向边缘检测结果图像到: logs/image/horizontal_edge_20250526_145753_163732.jpg
+2025-05-26 14:57:53 | INFO     | utils.log_helper - ℹ️ 横向边缘检测结果: {'timestamp': '20250526_145753_163732', 'edge_point': (1040, 790), 'distance_to_center': 80, 'slope': -0.03763440860215054, 'distance_to_bottom': 286.98924731182797, 'intersection_point': (960, 793), 'score': 0.5265099443030505, 'valid': False, 'reason': '边缘点y坐标超出有效范围; ', 'is_upper_line': False}
+2025-05-26 14:58:23 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145823_169420.jpg
+2025-05-26 14:58:23 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145823_249269.jpg
+2025-05-26 14:58:23 | INFO     | utils.log_helper - ℹ️ 保存横向边缘检测结果图像到: logs/image/horizontal_edge_20250526_145823_249269.jpg
+2025-05-26 14:58:23 | INFO     | utils.log_helper - ℹ️ 横向边缘检测结果: {'timestamp': '20250526_145823_249269', 'edge_point': (973, 960), 'distance_to_center': 13, 'slope': -0.07112526539278131, 'distance_to_bottom': 119.07537154989382, 'intersection_point': (960, 960), 'score': 0.38712268929341453, 'valid': False, 'reason': '边缘点y坐标超出有效范围; ', 'is_upper_line': False}
+2025-05-26 14:58:33 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145833_166005.jpg
+2025-05-26 14:58:33 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145833_219478.jpg
+2025-05-26 14:58:33 | INFO     | utils.log_helper - ℹ️ 保存横向边缘检测结果图像到: logs/image/horizontal_edge_20250526_145833_219478.jpg
+2025-05-26 14:58:33 | INFO     | utils.log_helper - ℹ️ 横向边缘检测结果: {'timestamp': '20250526_145833_219478', 'edge_point': (973, 960), 'distance_to_center': 13, 'slope': -0.07112526539278131, 'distance_to_bottom': 119.07537154989382, 'intersection_point': (960, 960), 'score': 0.38712268929341453, 'valid': False, 'reason': '边缘点y坐标超出有效范围; ', 'is_upper_line': False}
+2025-05-26 14:58:37 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145837_344953.jpg
+2025-05-26 14:58:37 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145837_397536.jpg
+2025-05-26 14:58:37 | INFO     | utils.log_helper - ℹ️ 保存横向边缘检测结果图像到: logs/image/horizontal_edge_20250526_145837_397536.jpg
+2025-05-26 14:58:37 | INFO     | utils.log_helper - ℹ️ 横向边缘检测结果: {'timestamp': '20250526_145837_397536', 'edge_point': (973, 960), 'distance_to_center': 13, 'slope': -0.07112526539278131, 'distance_to_bottom': 119.07537154989382, 'intersection_point': (960, 960), 'score': 0.38712268929341453, 'valid': False, 'reason': '边缘点y坐标超出有效范围; ', 'is_upper_line': False}
+2025-05-26 14:58:43 | DEBUG    | utils.log_helper - 🐞 步骤1: 原始图像已加载
+2025-05-26 14:58:44 | DEBUG    | utils.log_helper - 🐞 步骤2: 创建黄色掩码
+2025-05-26 14:58:45 | DEBUG    | utils.log_helper - 🐞 步骤3: 提取黄色部分
+2025-05-26 14:58:46 | DEBUG    | utils.log_helper - 🐞 正在处理底部边缘点
+2025-05-26 14:58:47 | DEBUG    | utils.log_helper - 🐞 显示拟合线段
+2025-05-26 14:58:48 | DEBUG    | utils.log_helper - 👁️ 步骤5: 找到边缘点 (320, 1009)
+2025-05-26 14:58:48 | DEBUG    | utils.log_helper - 🐞 显示边缘斜率和中线交点
+2025-05-26 14:58:49 | INFO     | utils.log_helper - ℹ️ 保存原始图像到: logs/image/origin_horizontal_edge_20250526_145849_764575.jpg
+2025-05-26 14:58:49 | INFO     | utils.log_helper - ℹ️ 保存横向边缘检测结果图像到: logs/image/horizontal_edge_20250526_145849_764575.jpg
+2025-05-26 14:58:49 | INFO     | utils.log_helper - ℹ️ 横向边缘检测结果: {'timestamp': '20250526_145849_764575', 'edge_point': (320, 1009), 'distance_to_center': -640, 'slope': -0.07331047777324741, 'distance_to_bottom': 117.91870577487839, 'intersection_point': (960, 962)}
+2025-05-26 14:59:08 | DEBUG    | utils.log_helper - 🐞 步骤1: 创建黄色掩码
+2025-05-26 14:59:09 | DEBUG    | utils.log_helper - 🐞 步骤1.5: 底部区域掩码
+2025-05-26 14:59:10 | DEBUG    | utils.log_helper - 🐞 步骤2: 边缘检测
+2025-05-26 14:59:11 | DEBUG    | utils.log_helper - 🐞 步骤3: 检测到 65 条直线
+2025-05-26 14:59:12 | DEBUG    | utils.log_helper - 🐞 步骤4: 找到 8 条垂直线
+2025-05-26 14:59:14 | INFO     | utils.log_helper - ℹ️ 保存双轨迹线检测结果图像到: logs/image/dual_track_20250526_145914_870232.jpg
+2025-05-26 14:59:14 | INFO     | utils.log_helper - ℹ️ 双轨迹线检测结果: {'timestamp': '20250526_145914_870232', 'center_point': (834, 1080), 'deviation': -126, 'left_track_mid_x': 397.0, 'right_track_mid_x': 1351.5, 'track_width': 954.5, 'center_slope': -2.8529411764705883}
diff --git a/task_3/Gait_Params_up_full.toml b/task_3/Gait_Params_up_full.toml
deleted file mode 100644
index 4f331cb..0000000
--- a/task_3/Gait_Params_up_full.toml
+++ /dev/null
@@ -1,4981 +0,0 @@
-# Gait Params
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
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-
-[[step]]
-mode = 11
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-step_height = [ 100000.0, 0.0,]
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-
-[[step]]
-mode = 11
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-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100.0,]
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-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
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-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-ctrl_point = [ 0.02, 0.0, 0.2,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
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-
-[[step]]
-mode = 11
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-step_height = [ 100000.0, 0.0,]
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-
-[[step]]
-mode = 11
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-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100.0,]
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-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-
-[[step]]
-mode = 11
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-
-[[step]]
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-
-[[step]]
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-[[step]]
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-
-[[step]]
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-
-[[step]]
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-
-[[step]]
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-ctrl_point = [ 0.02, 0.0, 0.2,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.0, 0.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
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-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
-foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
diff --git a/task_3/Usergait_List.toml b/task_3/Usergait_List.toml
new file mode 100644
index 0000000..ad7f790
--- /dev/null
+++ b/task_3/Usergait_List.toml
@@ -0,0 +1,44 @@
+[[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 = 0 
+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]
diff --git a/task_3/main copy.py b/task_3/main copy.py
new file mode 100755
index 0000000..2d80c04
--- /dev/null
+++ b/task_3/main copy.py	
@@ -0,0 +1,113 @@
+'''
+This demo show the communication interface of MR813 motion control board based on Lcm
+- robot_control_cmd_lcmt.py
+- file_send_lcmt.py
+- Gait_Def_moonwalk.toml
+- Gait_Params_moonwalk.toml
+- Usergait_List.toml
+'''
+import lcm
+import sys
+import time
+import toml
+import copy
+import math
+from robot_control_cmd_lcmt import robot_control_cmd_lcmt
+from file_send_lcmt import file_send_lcmt
+
+robot_cmd = {
+    'mode':0, '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':0
+}
+
+def main():
+    lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
+    lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
+    usergait_msg = file_send_lcmt()
+    cmd_msg = robot_control_cmd_lcmt()
+    try:
+        steps = toml.load("Gait_Params_up.toml")
+        full_steps = {'step':[robot_cmd]}
+        k =0
+        for i in steps['step']:
+            cmd = copy.deepcopy(robot_cmd)
+            cmd['duration'] = i['duration']
+            if i['type'] == 'usergait':                
+                cmd['mode'] = 11 # LOCOMOTION
+                cmd['gait_id'] = 110 # USERGAIT
+                cmd['vel_des'] = i['body_vel_des']
+                cmd['rpy_des'] = i['body_pos_des'][0:3]
+                cmd['pos_des'] = i['body_pos_des'][3:6]
+                cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
+                cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
+                cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
+                cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
+                cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
+                cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
+                cmd['acc_des'] = i['weight']
+                cmd['value'] = i['use_mpc_traj']
+                cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
+                cmd['ctrl_point'][2] =  i['mu']
+            if k == 0:
+                full_steps['step'] = [cmd]
+            else:
+                full_steps['step'].append(cmd)
+            k=k+1
+        f = open("Gait_Params_up_full.toml", 'w')
+        f.write("# Gait Params\n")
+        f.writelines(toml.dumps(full_steps))
+        f.close()
+
+        file_obj_gait_def = open("Gait_Def_up.toml",'r')
+        file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
+        usergait_msg.data = file_obj_gait_def.read()
+        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
+        time.sleep(0.5)
+        usergait_msg.data = file_obj_gait_params.read()
+        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
+        time.sleep(0.1)
+        file_obj_gait_def.close()
+        file_obj_gait_params.close()
+
+        user_gait_list = open("Usergait_List.toml",'r')
+        steps = toml.load(user_gait_list)
+        for step in steps['step']:
+            cmd_msg.mode = step['mode']
+            cmd_msg.value = step['value']
+            cmd_msg.contact = step['contact']
+            cmd_msg.gait_id = step['gait_id']
+            cmd_msg.duration = step['duration']
+            cmd_msg.life_count += 1
+            for i in range(3):
+                cmd_msg.vel_des[i] = step['vel_des'][i]
+                cmd_msg.rpy_des[i] = step['rpy_des'][i]
+                cmd_msg.pos_des[i] = step['pos_des'][i]
+                cmd_msg.acc_des[i] = step['acc_des'][i]
+                cmd_msg.acc_des[i+3] = step['acc_des'][i+3]
+                cmd_msg.foot_pose[i] = step['foot_pose'][i]
+                cmd_msg.ctrl_point[i] = step['ctrl_point'][i]
+            for i in range(2):
+                cmd_msg.step_height[i] = step['step_height'][i]
+            lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
+            time.sleep( 0.1 )
+        for i in range(325): #15s Heat beat It is used to maintain the heartbeat when life count is not updated
+            lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
+            time.sleep( 0.2 )
+    except KeyboardInterrupt:
+        cmd_msg.mode = 7 #PureDamper before KeyboardInterrupt:
+        cmd_msg.gait_id = 0
+        cmd_msg.duration = 0
+        cmd_msg.life_count += 1
+        lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
+        pass
+    sys.exit()
+
+if __name__ == '__main__':
+    main()
diff --git a/task_3/robot_control_cmd_lcmt copy.py b/task_3/robot_control_cmd_lcmt copy.py
new file mode 100755
index 0000000..addedac
--- /dev/null
+++ b/task_3/robot_control_cmd_lcmt copy.py	
@@ -0,0 +1,149 @@
+# LCM type definitions This file automatically generated by lcm.
+try:
+    import cStringIO.StringIO as BytesIO
+except ImportError:
+    from io import BytesIO
+import struct
+
+class robot_control_cmd_lcmt(object):
+    __slots__ = ["mode", "gait_id", "contact", "life_count", "vel_des", "rpy_des", "pos_des", "acc_des", "ctrl_point", "foot_pose", "step_height", "value", "duration"]
+
+    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "float", "float", "float", "float", "float", "float", "float", "int32_t", "int32_t"]
+
+    __dimensions__ = [None, None, None, None, [3], [3], [3], [6], [3], [6], [2], None, None]
+
+    def __init__(self):
+        self.mode = 0
+        self.gait_id = 0
+        self.contact = 0
+        self.life_count = 0
+        self.vel_des = [ 0.0 for dim0 in range(3) ]
+        self.rpy_des = [ 0.0 for dim0 in range(3) ]
+        self.pos_des = [ 0.0 for dim0 in range(3) ]
+        self.acc_des = [ 0.0 for dim0 in range(6) ]
+        self.ctrl_point = [ 0.0 for dim0 in range(3) ]
+        self.foot_pose = [ 0.0 for dim0 in range(6) ]
+        self.step_height = [ 0.0 for dim0 in range(2) ]
+        self.value = 0
+        self.duration = 0
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(robot_control_cmd_lcmt._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        buf.write(struct.pack(">bbbb", self.mode, self.gait_id, self.contact, self.life_count))
+        buf.write(struct.pack('>3f', *self.vel_des[:3]))
+        buf.write(struct.pack('>3f', *self.rpy_des[:3]))
+        buf.write(struct.pack('>3f', *self.pos_des[:3]))
+        buf.write(struct.pack('>6f', *self.acc_des[:6]))
+        buf.write(struct.pack('>3f', *self.ctrl_point[:3]))
+        buf.write(struct.pack('>6f', *self.foot_pose[:6]))
+        buf.write(struct.pack('>2f', *self.step_height[:2]))
+        buf.write(struct.pack(">ii", self.value, self.duration))
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != robot_control_cmd_lcmt._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return robot_control_cmd_lcmt._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = robot_control_cmd_lcmt()
+        self.mode, self.gait_id, self.contact, self.life_count = struct.unpack(">bbbb", buf.read(4))
+        self.vel_des = struct.unpack('>3f', buf.read(12))
+        self.rpy_des = struct.unpack('>3f', buf.read(12))
+        self.pos_des = struct.unpack('>3f', buf.read(12))
+        self.acc_des = struct.unpack('>6f', buf.read(24))
+        self.ctrl_point = struct.unpack('>3f', buf.read(12))
+        self.foot_pose = struct.unpack('>6f', buf.read(24))
+        self.step_height = struct.unpack('>2f', buf.read(8))
+        self.value, self.duration = struct.unpack(">ii", buf.read(8))
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if robot_control_cmd_lcmt in parents: return 0
+        tmphash = (0x476b61e296af96f5) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if robot_control_cmd_lcmt._packed_fingerprint is None:
+            robot_control_cmd_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_cmd_lcmt._get_hash_recursive([]))
+        return robot_control_cmd_lcmt._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", robot_control_cmd_lcmt._get_packed_fingerprint())[0]
+
+class robot_control_response_lcmt(object):
+    __slots__ = ["mode", "gait_id", "contact", "order_process_bar", "switch_status", "ori_error", "footpos_error", "motor_error"]
+
+    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int16_t", "int32_t"]
+
+    __dimensions__ = [None, None, None, None, None, None, None, [12]]
+
+    def __init__(self):
+        self.mode = 0
+        self.gait_id = 0
+        self.contact = 0
+        self.order_process_bar = 0
+        self.switch_status = 0
+        self.ori_error = 0
+        self.footpos_error = 0
+        self.motor_error = [ 0 for dim0 in range(12) ]
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(robot_control_response_lcmt._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        buf.write(struct.pack(">bbbbbbh", self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error))
+        buf.write(struct.pack('>12i', *self.motor_error[:12]))
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != robot_control_response_lcmt._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return robot_control_response_lcmt._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = robot_control_response_lcmt()
+        self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error = struct.unpack(">bbbbbbh", buf.read(8))
+        self.motor_error = struct.unpack('>12i', buf.read(48))
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if robot_control_response_lcmt in parents: return 0
+        tmphash = (0x485da98216eda8c7) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if robot_control_response_lcmt._packed_fingerprint is None:
+            robot_control_response_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_response_lcmt._get_hash_recursive([]))
+        return robot_control_response_lcmt._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", robot_control_response_lcmt._get_packed_fingerprint())[0]
diff --git a/test/task-path-track/yellow_track_demo.py b/test/task-path-track/yellow_track_demo.py
index 8b5833c..07cc434 100644
--- a/test/task-path-track/yellow_track_demo.py
+++ b/test/task-path-track/yellow_track_demo.py
@@ -17,7 +17,7 @@ def process_image(image_path, save_dir=None, show_steps=False):
     
     # 检测赛道并估算距离
     start_time = time.time()
-    edge_point, edge_info = detect_horizontal_track_edge_v2(image_path, observe=show_steps, save_log=True, delay=800)
+    edge_point, edge_info = detect_horizontal_track_edge(image_path, observe=show_steps, save_log=True, delay=800)
     processing_time = time.time() - start_time
     
     # 输出结果
@@ -44,7 +44,7 @@ def process_image(image_path, save_dir=None, show_steps=False):
 
 def main():
     parser = argparse.ArgumentParser(description='黄色赛道检测演示程序')
-    parser.add_argument('--input', type=str, default='res/path/test-1.jpg', help='输入图像或视频的路径')
+    parser.add_argument('--input', type=str, default='res/path/image_20250513_162556.png', help='输入图像或视频的路径')
     parser.add_argument('--output', type=str, default='res/path/test-v2/2-end.jpg', help='输出结果的保存路径')
     parser.add_argument('--type', type=str, choices=['image', 'video'], help='输入类型，不指定会自动检测')
     parser.add_argument('--show', default=True, action='store_true', help='显示处理步骤')
diff --git a/utils/detect_track.py b/utils/detect_track.py
index 770546f..476f6a7 100644
--- a/utils/detect_track.py
+++ b/utils/detect_track.py
@@ -19,7 +19,7 @@ def detect_horizontal_track_edge(image, observe=False, delay=1000, save_log=True
         edge_point: 赛道前方边缘点的坐标 (x, y)
         edge_info: 边缘信息字典
     """
-    observe = False  # TEST
+    # observe = False  # TEST
     # 如果输入是字符串（文件路径），则加载图像
     if isinstance(image, str):
         img = cv2.imread(image)