diff --git a/task_3/Gait_Params_down.toml b/task_3/Gait_Params_down.toml
new file mode 100644
index 0000000..bf837a3
--- /dev/null
+++ b/task_3/Gait_Params_down.toml
@@ -0,0 +1,8738 @@
+# Gait Params for moonwalk
+#步态参数 每个step代表一个参数块
+#FR，FL，RR，RL
+# 1
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]