diff --git a/task_3/Gait_Params_moonwalk.toml b/task_3/Gait_Params_moonwalk.toml
new file mode 100644
index 0000000..143b265
--- /dev/null
+++ b/task_3/Gait_Params_moonwalk.toml
@@ -0,0 +1,215 @@
+# 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 #
diff --git a/task_3/Gait_Params_moonwalk_full.toml b/task_3/Gait_Params_moonwalk_full.toml
new file mode 100644
index 0000000..8da222e
--- /dev/null
+++ b/task_3/Gait_Params_moonwalk_full.toml
@@ -0,0 +1,241 @@
+# 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
+