From 2bb7558fb1a2cd455ea2df8f479f7e8106a15784 Mon Sep 17 00:00:00 2001 From: havoc420ubuntu <2993167370@qq.com> Date: Wed, 28 May 2025 12:24:18 +0000 Subject: [PATCH] Refactor main.py and task_4: Updated turning logic in main.py to use turn_degree_v2 with a fixed degree of -90. Adjusted Gait_Params_stoop_full.toml and Gait_Params_stoop.toml to reduce body velocity from 0.2 to 0.15 for smoother movement. Enhanced pass_bar.py to streamline gait file publishing and added step_num variable for better control during the pass_bar function. Updated run_task_4_back to improve task flow and added a pause for standing up after passing the bar. --- main.py | 9 +- task_4/Gait_Params_stoop.toml | 664 ++++++++++++++--------------- task_4/Gait_Params_stoop_full.toml | 664 ++++++++++++++--------------- task_4/pass_bar.py | 18 +- task_4/task_4.py | 27 +- 5 files changed, 695 insertions(+), 687 deletions(-) diff --git a/main.py b/main.py index bc6d7f6..80f683f 100644 --- a/main.py +++ b/main.py @@ -56,6 +56,7 @@ def main(): # print(f"arrow_direction: {arrow_direction}") # run_task_2_5(Ctrl, msg, direction=arrow_direction) + turn_degree_v2(Ctrl, msg, degree=-90, absolute=True) arrow_direction = 'right' # TEST # if arrow_direction == 'left': @@ -63,11 +64,9 @@ def main(): # else: # run_task_3(Ctrl, msg) - turn_degree_v2(Ctrl, msg, degree=90, absolute=True) + # turn_degree_v2(Ctrl, msg, degree=90, absolute=True) - run_task_5(Ctrl, msg, direction=arrow_direction) - - return + # run_task_5(Ctrl, msg, direction=arrow_direction) if arrow_direction == 'left': # run_task_3_back(Ctrl, msg) @@ -75,6 +74,8 @@ def main(): else: run_task_4_back(Ctrl, msg) + return + run_task_5(Ctrl, msg) run_task_2_5_back(Ctrl, msg, direction=arrow_direction) diff --git a/task_4/Gait_Params_stoop.toml b/task_4/Gait_Params_stoop.toml index 9050030..399f66b 100644 --- a/task_4/Gait_Params_stoop.toml +++ b/task_4/Gait_Params_stoop.toml @@ -5,7 +5,7 @@ [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -32,7 +32,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -58,7 +58,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -84,7 +84,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -111,7 +111,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -138,7 +138,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -164,7 +164,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -190,7 +190,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -216,7 +216,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -243,7 +243,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -269,7 +269,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -295,7 +295,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -321,7 +321,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -348,7 +348,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -374,7 +374,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -400,7 +400,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -426,7 +426,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -453,7 +453,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -479,7 +479,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -505,7 +505,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -532,7 +532,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -559,7 +559,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -585,7 +585,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -611,7 +611,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -637,7 +637,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -664,7 +664,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -690,7 +690,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -716,7 +716,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -742,7 +742,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -769,7 +769,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -795,7 +795,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -821,7 +821,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -847,7 +847,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -874,7 +874,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -900,7 +900,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -926,7 +926,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -953,7 +953,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -980,7 +980,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1006,7 +1006,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1032,7 +1032,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1058,7 +1058,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1085,7 +1085,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1111,7 +1111,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1137,7 +1137,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1163,7 +1163,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1190,7 +1190,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1216,7 +1216,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1242,7 +1242,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1268,7 +1268,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1295,7 +1295,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1321,7 +1321,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1347,7 +1347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1374,7 +1374,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1401,7 +1401,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1427,7 +1427,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1453,7 +1453,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1479,7 +1479,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1506,7 +1506,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1532,7 +1532,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1558,7 +1558,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1584,7 +1584,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1611,7 +1611,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1637,7 +1637,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1663,7 +1663,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1689,7 +1689,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1716,7 +1716,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1742,7 +1742,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1768,7 +1768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1795,7 +1795,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1822,7 +1822,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1848,7 +1848,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1874,7 +1874,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1900,7 +1900,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -1927,7 +1927,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1953,7 +1953,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -1979,7 +1979,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2005,7 +2005,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2032,7 +2032,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2058,7 +2058,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2084,7 +2084,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2110,7 +2110,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2137,7 +2137,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2163,7 +2163,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2189,7 +2189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2215,7 +2215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2242,7 +2242,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2268,7 +2268,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2294,7 +2294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2320,7 +2320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2347,7 +2347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2373,7 +2373,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2399,7 +2399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2425,7 +2425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2452,7 +2452,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2478,7 +2478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2504,7 +2504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2530,7 +2530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2557,7 +2557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2583,7 +2583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2609,7 +2609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2636,7 +2636,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2663,7 +2663,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2689,7 +2689,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2715,7 +2715,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2741,7 +2741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2768,7 +2768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2794,7 +2794,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2820,7 +2820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2846,7 +2846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2873,7 +2873,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2899,7 +2899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2925,7 +2925,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -2951,7 +2951,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -2978,7 +2978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3004,7 +3004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3030,7 +3030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3057,7 +3057,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3084,7 +3084,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3110,7 +3110,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3136,7 +3136,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3162,7 +3162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3189,7 +3189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3215,7 +3215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3241,7 +3241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3267,7 +3267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3294,7 +3294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3320,7 +3320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3346,7 +3346,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3372,7 +3372,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3399,7 +3399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3425,7 +3425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3451,7 +3451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3478,7 +3478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3505,7 +3505,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3531,7 +3531,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3557,7 +3557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3583,7 +3583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3610,7 +3610,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3636,7 +3636,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3662,7 +3662,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3688,7 +3688,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3715,7 +3715,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3741,7 +3741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3767,7 +3767,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3793,7 +3793,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3820,7 +3820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3846,7 +3846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3872,7 +3872,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3899,7 +3899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -3926,7 +3926,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3952,7 +3952,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -3978,7 +3978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4004,7 +4004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4031,7 +4031,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4057,7 +4057,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4083,7 +4083,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4109,7 +4109,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4136,7 +4136,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4162,7 +4162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4188,7 +4188,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4214,7 +4214,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4241,7 +4241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4267,7 +4267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4293,7 +4293,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4320,7 +4320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4347,7 +4347,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4373,7 +4373,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4399,7 +4399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4425,7 +4425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4452,7 +4452,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4478,7 +4478,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4504,7 +4504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4530,7 +4530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4557,7 +4557,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4583,7 +4583,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4609,7 +4609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4635,7 +4635,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4662,7 +4662,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4688,7 +4688,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4714,7 +4714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4741,7 +4741,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4768,7 +4768,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4794,7 +4794,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4820,7 +4820,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4846,7 +4846,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4873,7 +4873,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4899,7 +4899,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4925,7 +4925,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -4951,7 +4951,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -4978,7 +4978,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5004,7 +5004,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5030,7 +5030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5056,7 +5056,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5083,7 +5083,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5109,7 +5109,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5135,7 +5135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5162,7 +5162,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5189,7 +5189,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5215,7 +5215,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5241,7 +5241,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5267,7 +5267,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5294,7 +5294,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5320,7 +5320,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5346,7 +5346,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5372,7 +5372,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5399,7 +5399,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5425,7 +5425,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5451,7 +5451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5477,7 +5477,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5504,7 +5504,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5530,7 +5530,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5556,7 +5556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5582,7 +5582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5609,7 +5609,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5635,7 +5635,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5661,7 +5661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5687,7 +5687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5714,7 +5714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5740,7 +5740,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5766,7 +5766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5792,7 +5792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5819,7 +5819,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5845,7 +5845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5871,7 +5871,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5897,7 +5897,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -5924,7 +5924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5950,7 +5950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -5976,7 +5976,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6003,7 +6003,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6030,7 +6030,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6056,7 +6056,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6082,7 +6082,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6108,7 +6108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6135,7 +6135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6161,7 +6161,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6187,7 +6187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6213,7 +6213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6240,7 +6240,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6266,7 +6266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6292,7 +6292,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6318,7 +6318,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6345,7 +6345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6371,7 +6371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6397,7 +6397,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6424,7 +6424,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6451,7 +6451,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6477,7 +6477,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6503,7 +6503,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6529,7 +6529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6556,7 +6556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6582,7 +6582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6608,7 +6608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6634,7 +6634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6661,7 +6661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6687,7 +6687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6713,7 +6713,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6739,7 +6739,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6766,7 +6766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6792,7 +6792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6818,7 +6818,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6845,7 +6845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6872,7 +6872,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6898,7 +6898,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6924,7 +6924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -6950,7 +6950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -6977,7 +6977,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7003,7 +7003,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7029,7 +7029,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7055,7 +7055,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7082,7 +7082,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7108,7 +7108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7134,7 +7134,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7160,7 +7160,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7187,7 +7187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7213,7 +7213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7239,7 +7239,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7266,7 +7266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7293,7 +7293,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7319,7 +7319,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7345,7 +7345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7371,7 +7371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7398,7 +7398,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7424,7 +7424,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7450,7 +7450,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7476,7 +7476,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7503,7 +7503,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7529,7 +7529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7555,7 +7555,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7581,7 +7581,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7608,7 +7608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7634,7 +7634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7660,7 +7660,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7687,7 +7687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7714,7 +7714,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7740,7 +7740,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7766,7 +7766,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7792,7 +7792,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7819,7 +7819,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7845,7 +7845,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7871,7 +7871,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7897,7 +7897,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -7924,7 +7924,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7950,7 +7950,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -7976,7 +7976,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8002,7 +8002,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8029,7 +8029,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8055,7 +8055,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8081,7 +8081,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8108,7 +8108,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8135,7 +8135,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8161,7 +8161,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8187,7 +8187,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8213,7 +8213,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8240,7 +8240,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8266,7 +8266,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8292,7 +8292,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8318,7 +8318,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8345,7 +8345,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8371,7 +8371,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8397,7 +8397,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8423,7 +8423,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8450,7 +8450,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8476,7 +8476,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8502,7 +8502,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8529,7 +8529,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] # 1 [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8556,7 +8556,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8582,7 +8582,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8608,7 +8608,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8634,7 +8634,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z -body_vel_des = [0.20, 0.0, 0.0] #x,y,yaw +body_vel_des = [0.15, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 @@ -8661,7 +8661,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8687,7 +8687,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 @@ -8713,7 +8713,7 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] [[step]] body_pos_des = [0.0, 0.2, 0.0, 0.0, 0.0, 0.005] -body_vel_des = [0.20, 0.0, 0.0] +body_vel_des = [0.15, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.75 diff --git a/task_4/Gait_Params_stoop_full.toml b/task_4/Gait_Params_stoop_full.toml index 3fb2393..2a16200 100644 --- a/task_4/Gait_Params_stoop_full.toml +++ b/task_4/Gait_Params_stoop_full.toml @@ -4,7 +4,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -19,7 +19,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -34,7 +34,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -49,7 +49,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -64,7 +64,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -79,7 +79,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -94,7 +94,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -109,7 +109,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -124,7 +124,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -139,7 +139,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -154,7 +154,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -169,7 +169,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -184,7 +184,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -199,7 +199,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -214,7 +214,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -229,7 +229,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -244,7 +244,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -259,7 +259,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -274,7 +274,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -289,7 +289,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -304,7 +304,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -319,7 +319,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -334,7 +334,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -349,7 +349,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -364,7 +364,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -379,7 +379,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -394,7 +394,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -409,7 +409,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -424,7 +424,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -439,7 +439,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -454,7 +454,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -469,7 +469,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -484,7 +484,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -499,7 +499,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -514,7 +514,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -529,7 +529,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -544,7 +544,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -559,7 +559,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -574,7 +574,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -589,7 +589,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -604,7 +604,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -619,7 +619,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -634,7 +634,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -649,7 +649,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -664,7 +664,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -679,7 +679,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -694,7 +694,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -709,7 +709,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -724,7 +724,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -739,7 +739,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -754,7 +754,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -769,7 +769,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -784,7 +784,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -799,7 +799,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -814,7 +814,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -829,7 +829,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -844,7 +844,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -859,7 +859,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -874,7 +874,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -889,7 +889,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -904,7 +904,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -919,7 +919,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -934,7 +934,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -949,7 +949,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -964,7 +964,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -979,7 +979,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -994,7 +994,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1009,7 +1009,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1024,7 +1024,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1039,7 +1039,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1054,7 +1054,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1069,7 +1069,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1084,7 +1084,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1099,7 +1099,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1114,7 +1114,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1129,7 +1129,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1144,7 +1144,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1159,7 +1159,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1174,7 +1174,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1189,7 +1189,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1204,7 +1204,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1219,7 +1219,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1234,7 +1234,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1249,7 +1249,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1264,7 +1264,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1279,7 +1279,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1294,7 +1294,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1309,7 +1309,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1324,7 +1324,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1339,7 +1339,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1354,7 +1354,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1369,7 +1369,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1384,7 +1384,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1399,7 +1399,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1414,7 +1414,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1429,7 +1429,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1444,7 +1444,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1459,7 +1459,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1474,7 +1474,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1489,7 +1489,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1504,7 +1504,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1519,7 +1519,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1534,7 +1534,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1549,7 +1549,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1564,7 +1564,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1579,7 +1579,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1594,7 +1594,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1609,7 +1609,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1624,7 +1624,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1639,7 +1639,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1654,7 +1654,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1669,7 +1669,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1684,7 +1684,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1699,7 +1699,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1714,7 +1714,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1729,7 +1729,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1744,7 +1744,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1759,7 +1759,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1774,7 +1774,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1789,7 +1789,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1804,7 +1804,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1819,7 +1819,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1834,7 +1834,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1849,7 +1849,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1864,7 +1864,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1879,7 +1879,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1894,7 +1894,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1909,7 +1909,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1924,7 +1924,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1939,7 +1939,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1954,7 +1954,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1969,7 +1969,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1984,7 +1984,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -1999,7 +1999,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2014,7 +2014,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2029,7 +2029,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2044,7 +2044,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2059,7 +2059,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2074,7 +2074,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2089,7 +2089,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2104,7 +2104,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2119,7 +2119,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2134,7 +2134,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2149,7 +2149,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2164,7 +2164,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2179,7 +2179,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2194,7 +2194,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2209,7 +2209,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2224,7 +2224,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2239,7 +2239,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2254,7 +2254,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2269,7 +2269,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2284,7 +2284,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2299,7 +2299,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2314,7 +2314,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2329,7 +2329,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2344,7 +2344,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2359,7 +2359,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2374,7 +2374,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2389,7 +2389,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2404,7 +2404,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2419,7 +2419,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2434,7 +2434,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2449,7 +2449,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2464,7 +2464,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2479,7 +2479,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2494,7 +2494,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2509,7 +2509,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2524,7 +2524,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2539,7 +2539,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2554,7 +2554,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2569,7 +2569,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2584,7 +2584,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2599,7 +2599,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2614,7 +2614,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2629,7 +2629,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2644,7 +2644,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2659,7 +2659,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2674,7 +2674,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2689,7 +2689,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2704,7 +2704,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2719,7 +2719,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2734,7 +2734,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2749,7 +2749,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2764,7 +2764,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2779,7 +2779,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2794,7 +2794,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2809,7 +2809,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2824,7 +2824,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2839,7 +2839,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2854,7 +2854,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2869,7 +2869,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2884,7 +2884,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2899,7 +2899,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2914,7 +2914,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2929,7 +2929,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2944,7 +2944,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2959,7 +2959,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2974,7 +2974,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -2989,7 +2989,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3004,7 +3004,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3019,7 +3019,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3034,7 +3034,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3049,7 +3049,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3064,7 +3064,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3079,7 +3079,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3094,7 +3094,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3109,7 +3109,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3124,7 +3124,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3139,7 +3139,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3154,7 +3154,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3169,7 +3169,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3184,7 +3184,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3199,7 +3199,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3214,7 +3214,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3229,7 +3229,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3244,7 +3244,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3259,7 +3259,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3274,7 +3274,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3289,7 +3289,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3304,7 +3304,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3319,7 +3319,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3334,7 +3334,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3349,7 +3349,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3364,7 +3364,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3379,7 +3379,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3394,7 +3394,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3409,7 +3409,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3424,7 +3424,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3439,7 +3439,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3454,7 +3454,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3469,7 +3469,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3484,7 +3484,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3499,7 +3499,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3514,7 +3514,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3529,7 +3529,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3544,7 +3544,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3559,7 +3559,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3574,7 +3574,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3589,7 +3589,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3604,7 +3604,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3619,7 +3619,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3634,7 +3634,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3649,7 +3649,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3664,7 +3664,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3679,7 +3679,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3694,7 +3694,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3709,7 +3709,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3724,7 +3724,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3739,7 +3739,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3754,7 +3754,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3769,7 +3769,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3784,7 +3784,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3799,7 +3799,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3814,7 +3814,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3829,7 +3829,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3844,7 +3844,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3859,7 +3859,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3874,7 +3874,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3889,7 +3889,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3904,7 +3904,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3919,7 +3919,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3934,7 +3934,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3949,7 +3949,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3964,7 +3964,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3979,7 +3979,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -3994,7 +3994,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4009,7 +4009,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4024,7 +4024,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4039,7 +4039,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4054,7 +4054,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4069,7 +4069,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4084,7 +4084,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4099,7 +4099,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4114,7 +4114,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4129,7 +4129,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4144,7 +4144,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4159,7 +4159,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4174,7 +4174,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4189,7 +4189,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4204,7 +4204,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4219,7 +4219,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4234,7 +4234,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4249,7 +4249,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4264,7 +4264,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4279,7 +4279,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4294,7 +4294,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4309,7 +4309,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4324,7 +4324,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4339,7 +4339,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4354,7 +4354,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4369,7 +4369,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4384,7 +4384,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4399,7 +4399,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4414,7 +4414,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4429,7 +4429,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4444,7 +4444,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4459,7 +4459,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4474,7 +4474,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4489,7 +4489,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4504,7 +4504,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4519,7 +4519,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4534,7 +4534,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4549,7 +4549,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4564,7 +4564,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4579,7 +4579,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4594,7 +4594,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4609,7 +4609,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4624,7 +4624,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4639,7 +4639,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4654,7 +4654,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4669,7 +4669,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4684,7 +4684,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4699,7 +4699,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4714,7 +4714,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4729,7 +4729,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4744,7 +4744,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4759,7 +4759,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4774,7 +4774,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4789,7 +4789,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4804,7 +4804,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4819,7 +4819,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4834,7 +4834,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4849,7 +4849,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4864,7 +4864,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4879,7 +4879,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4894,7 +4894,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4909,7 +4909,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4924,7 +4924,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4939,7 +4939,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4954,7 +4954,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] @@ -4969,7 +4969,7 @@ mode = 11 gait_id = 110 contact = 17 life_count = 0 -vel_des = [ 0.2, 0.0, 0.0,] +vel_des = [ 0.15, 0.0, 0.0,] rpy_des = [ 0.0, 0.2, 0.0,] pos_des = [ 0.0, 0.0, 0.005,] acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,] diff --git a/task_4/pass_bar.py b/task_4/pass_bar.py index ccf6bcd..a3ded74 100644 --- a/task_4/pass_bar.py +++ b/task_4/pass_bar.py @@ -37,9 +37,11 @@ def pass_bar(ctrl, msg): """ 俯身通过一个栅栏 """ + step_num = 8 + # 切换步态 usergait_msg = file_send_lcmt() - lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") + # lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255") try: steps = toml.load("./task_4/Gait_Params_stoop.toml") @@ -78,20 +80,14 @@ def pass_bar(ctrl, msg): file_obj_gait_def = open("./task_4/Gait_Def_stoop.toml",'r') file_obj_gait_params = open("./task_4/Gait_Params_stoop_full.toml",'r') usergait_msg.data = file_obj_gait_def.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) + ctrl.lc_s.publish("user_gait_file", usergait_msg.encode()) time.sleep(0.5) usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file",usergait_msg.encode()) + ctrl.lc_s.publish("user_gait_file", usergait_msg.encode()) time.sleep(0.1) file_obj_gait_def.close() file_obj_gait_params.close() - file_obj_gait_params = open("./task_4/Gait_Params_stoop_full.toml",'r') - usergait_msg.data = file_obj_gait_params.read() - lcm_usergait.publish("user_gait_file", usergait_msg.encode()) - time.sleep(0.5) - file_obj_gait_params.close() - msg.mode = 62 msg.value = 0 msg.contact = 15 @@ -99,9 +95,9 @@ def pass_bar(ctrl, msg): msg.duration = 1000 msg.life_count += 1 - for i in range(50): + for i in range(step_num): ctrl.Send_cmd(msg) - time.sleep(0.2) + time.sleep(1) except KeyboardInterrupt: msg.mode = 7 #PureDamper before KeyboardInterrupt: diff --git a/task_4/task_4.py b/task_4/task_4.py index 64d23fd..25d50e9 100644 --- a/task_4/task_4.py +++ b/task_4/task_4.py @@ -45,11 +45,17 @@ def run_task_4_back(ctrl, msg): msg: 控制消息对象 image_processor: 可选的图像处理器实例 """ - section('任务4-1：移动直到灰色天空比例小于阈值', "天空检测") - go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2) + section('任务4-1：移动直到灰色天空比例低于阈值', "天空检测") + go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.30) section('任务4-2：通过栏杆', "移动") pass_bar(ctrl, msg) + + go_straight(ctrl, msg, distance=0.5, speed=0.35) + time.sleep(5) + ctrl.base_msg.stand_up() + + return section('任务4-3：前进直到遇到黄线 - 石板路', "移动") # 使用新创建的函数，直走直到遇到黄线并停在距离黄线0.5米处 @@ -66,20 +72,25 @@ def run_task_4_back(ctrl, msg): ) -def go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2, step_distance=0.5, max_distance=10, speed=0.3): +def go_straight_until_sky_ratio_below(ctrl, msg, + sky_ratio_threshold=0.2, + step_distance=0.5, + max_distance=2, + speed=0.3 + ): """ - 控制机器人沿直线行走，直到灰色天空比例小于指定阈值 + 控制机器人沿直线行走，直到灰色天空比例低于指定阈值 参数: ctrl: Robot_Ctrl对象 msg: 控制命令消息对象 - sky_ratio_threshold: 灰色天空比例阈值，当检测到的比例小于此值时停止 + sky_ratio_threshold: 灰色天空比例阈值，当检测到的比例低于此值时停止 step_distance: 每次移动的步长(米) max_distance: 最大移动距离(米)，防止无限前进 speed: 移动速度(米/秒) 返回: - bool: 是否成功找到天空比例小于阈值的位置 + bool: 是否成功找到天空比例低于阈值的位置 """ total_distance = 0 success_flag = False @@ -106,9 +117,9 @@ def go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2, step_d sky_ratio = analyze_gray_sky_ratio(temp_image_path) info(f"当前灰色天空比例: {sky_ratio:.2%}", "分析") - # 如果天空比例小于阈值，停止移动 + # 如果天空比例高于阈值，停止移动 if sky_ratio < sky_ratio_threshold: - success(f"检测到灰色天空比例({sky_ratio:.2%})小于阈值({sky_ratio_threshold:.2%})，停止移动", "完成") + success(f"检测到灰色天空比例({sky_ratio:.2%})低于阈值({sky_ratio_threshold:.2%})，停止移动", "完成") success_flag = True break