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Havoc 2025-05-26 02:08:12 +08:00
parent 938b0f8a86
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215
task_3/Gait_Params_moonwalk.toml Normal file
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# Gait Params for moonwalk
# 1
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, -0.065, -0.00, 0.0, -0.065, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.00, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, 0.00, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [-0.065, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, -0.065, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
# 2
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, -0.065, -0.00, 0.0, -0.065, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.00, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, 0.00, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [-0.065, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, -0.065, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
# 3
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, -0.065, -0.00, 0.0, -0.065, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.00, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, 0.00, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [-0.065, 0.00, 0.0, 0.065, -0.00, 0.0, 0.065, 0.00, 0.0, -0.065, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
# 4
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.065, 0.00, 0.0, -0.065, -0.00, 0.0, -0.065, 0.00, 0.0, 0.065, 0.00, 0.0]
step_height = [0.05, 0.01, 0.01, 0.05]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, 0.00, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300
[[step]]
type = "usergait"
body_vel_des = [0.0, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [-0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.00, 0.00, 0.0, -0.00, 0.00, 0.0]
step_height = [0.01, 0.05, 0.05, 0.01]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 240
# End of moonwalk #

241
task_3/Gait_Params_moonwalk_full.toml Normal file
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# Gait Params
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.0, 0.0, 0.4,]
foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ -0.065, 0.0, 0.4,]
foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.0, 0.0, 0.4,]
foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ -0.065, 0.0, 0.4,]
foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.0, 0.0, 0.4,]
foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ -0.065, 0.0, 0.4,]
foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.065, 0.0, 0.4,]
foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
step_height = [ 10050.0, 50010.0,]
value = 0
duration = 240
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.0, 0.0, 0.4,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, 0.0,]
acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
ctrl_point = [ 0.0, 0.0, 0.4,]
foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
step_height = [ 50010.0, 10050.0,]
value = 0
duration = 240