From 578469ab9ef96d54aa442e7ac816bea20aff2200 Mon Sep 17 00:00:00 2001
From: Havoc <2993167370@qq.com>
Date: Wed, 28 May 2025 18:08:32 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0Gait=5FParams=E7=9B=B8?=
 =?UTF-8?q?=E5=85=B3=E6=96=87=E4=BB=B6=EF=BC=8C=E8=B0=83=E6=95=B4=E6=AD=A5?=
 =?UTF-8?q?=E6=80=81=E5=8F=82=E6=95=B0=E4=BB=A5=E4=BC=98=E5=8C=96=E6=9C=BA?=
 =?UTF-8?q?=E5=99=A8=E4=BA=BA=E8=BF=90=E5=8A=A8=E8=A1=A8=E7=8E=B0=EF=BC=8C?=
 =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=B8=BB=E7=A8=8B=E5=BA=8F=E4=BB=A5=E6=94=AF?=
 =?UTF-8?q?=E6=8C=81=E6=96=B0=E6=AD=A5=E6=80=81=E9=85=8D=E7=BD=AE=EF=BC=8C?=
 =?UTF-8?q?=E5=A2=9E=E5=BC=BA=E4=BB=A3=E7=A0=81=E5=8F=AF=E8=AF=BB=E6=80=A7?=
 =?UTF-8?q?=E5=92=8C=E6=89=A7=E8=A1=8C=E6=95=88=E7=8E=87=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 task_3/Gait_Def_down.toml             | 1297 +++++++++++
 task_3/Gait_Def_moonwalk.toml         |  138 ++
 task_3/Gait_Params_down.toml          |    2 +-
 task_3/Gait_Params_moonwalk.toml      |  215 ++
 task_3/Gait_Params_moonwalk_full.toml |  241 ++
 task_3/Gait_Params_up.toml            | 2918 ++++++++++++++++++-------
 task_3/Gait_Params_up_full.toml       | 1936 ++++++++++------
 task_3/Usergait_List.toml             |    0
 task_3/main.py                        |   31 +-
 9 files changed, 5332 insertions(+), 1446 deletions(-)
 create mode 100644 task_3/Gait_Def_down.toml
 create mode 100755 task_3/Gait_Def_moonwalk.toml
 create mode 100755 task_3/Gait_Params_moonwalk.toml
 create mode 100644 task_3/Gait_Params_moonwalk_full.toml
 mode change 100644 => 100755 task_3/Usergait_List.toml

diff --git a/task_3/Gait_Def_down.toml b/task_3/Gait_Def_down.toml
new file mode 100644
index 0000000..29888b2
--- /dev/null
+++ b/task_3/Gait_Def_down.toml
@@ -0,0 +1,1297 @@
+# Gait Def for moonwalk
+#步态=步态定义+步态参数
+#太空步步态定义
+#走5次太空步，然后直立
+#FR，FL，RR，RL
+# 1
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+# 1
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 0, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 0, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [0, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
+
+[[section]]
+contact = [1, 1, 1, 0]
+duration = 5
+
diff --git a/task_3/Gait_Def_moonwalk.toml b/task_3/Gait_Def_moonwalk.toml
new file mode 100755
index 0000000..1864f00
--- /dev/null
+++ b/task_3/Gait_Def_moonwalk.toml
@@ -0,0 +1,138 @@
+# Gait Def for moonwalk
+
+# 1
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [0, 1, 1, 0]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 0, 0, 1]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+# 2
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [0, 1, 1, 0]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 0, 0, 1]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+# 3
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [0, 1, 1, 0]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 0, 0, 1]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+# 4
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [0, 1, 1, 0]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+[[section]]
+contact  = [1, 0, 0, 1]
+duration = 6
+
+[[section]]
+contact  = [0, 0, 0, 0]
+duration = 2
+
+# 5
+[[section]]
+contact  = [1, 1, 1, 1]
+duration = 8
diff --git a/task_3/Gait_Params_down.toml b/task_3/Gait_Params_down.toml
index bf837a3..9e7aa16 100644
--- a/task_3/Gait_Params_down.toml
+++ b/task_3/Gait_Params_down.toml
@@ -8735,4 +8735,4 @@ mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
\ No newline at end of file
diff --git a/task_3/Gait_Params_moonwalk.toml b/task_3/Gait_Params_moonwalk.toml
new file mode 100755
index 0000000..143b265
--- /dev/null
+++ b/task_3/Gait_Params_moonwalk.toml
@@ -0,0 +1,215 @@
+# Gait Params for moonwalk
+
+# 1
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+# 2
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+# 3
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+# 4
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
+step_height     = [0.05, 0.01, 0.01, 0.05]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [0.00, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.00, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 300
+
+[[step]]
+type            = "usergait"
+body_vel_des    = [0.0, 0.0, 0.0]
+body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+landing_pos_des = [-0.00, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  -0.00, 0.00, 0.0]
+step_height     = [0.01, 0.05, 0.05, 0.01]
+weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
+use_mpc_traj    = 0
+mu              = 0.40
+landing_gain    = 1.0 
+gait_id         = 110
+duration        = 240
+
+# End of moonwalk #
diff --git a/task_3/Gait_Params_moonwalk_full.toml b/task_3/Gait_Params_moonwalk_full.toml
new file mode 100644
index 0000000..8da222e
--- /dev/null
+++ b/task_3/Gait_Params_moonwalk_full.toml
@@ -0,0 +1,241 @@
+# Gait Params
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.0, 0.0, 0.4,]
+foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ -0.065, 0.0, 0.4,]
+foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.0, 0.0, 0.4,]
+foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ -0.065, 0.0, 0.4,]
+foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.0, 0.0, 0.4,]
+foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ -0.065, 0.0, 0.4,]
+foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.065, 0.0, 0.4,]
+foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
+step_height = [ 10050.0, 50010.0,]
+value = 0
+duration = 240
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.0, 0.0, 0.4,]
+foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 10
+life_count = 0
+vel_des = [ 0.0, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.0,]
+acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
+ctrl_point = [ 0.0, 0.0, 0.4,]
+foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
+step_height = [ 50010.0, 10050.0,]
+value = 0
+duration = 240
+
diff --git a/task_3/Gait_Params_up.toml b/task_3/Gait_Params_up.toml
index 21cc6a1..4a77eeb 100644
--- a/task_3/Gait_Params_up.toml
+++ b/task_3/Gait_Params_up.toml
@@ -4317,7 +4317,6 @@ type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
-# 1
 [[step]]
 body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
 body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
@@ -4738,10 +4737,116 @@ type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -4761,14 +4866,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4786,15 +4891,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4812,15 +4917,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4838,15 +4943,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -4866,14 +4971,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4891,15 +4996,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4917,15 +5022,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4943,15 +5048,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -4971,14 +5076,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -4996,15 +5101,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5022,15 +5127,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5048,15 +5153,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -5076,14 +5181,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5101,15 +5206,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5127,15 +5232,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5153,7 +5258,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -5161,8 +5266,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -5182,14 +5287,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5207,15 +5312,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5233,15 +5338,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5259,15 +5364,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -5287,14 +5392,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5312,15 +5417,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5338,15 +5443,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5364,15 +5469,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -5392,14 +5497,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5417,15 +5522,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5443,15 +5548,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5469,15 +5574,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -5497,14 +5602,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5522,15 +5627,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5548,15 +5653,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -5574,427 +5679,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
-step_height = [0.0, 0.0, 0.0, 0.10]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-# 1
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
-type = "usergait"
-#x，y，z方向的落地位置偏置
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.10, 0.0, 0.0]
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.10, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.10, 0.0, 0.0, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.0, 0.10]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
-type = "usergait"
-#x，y，z方向的落地位置偏置
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.10, 0.0, 0.0]
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.10, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.10, 0.0, 0.0, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.0, 0.10]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
-type = "usergait"
-#x，y，z方向的落地位置偏置
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.10, 0.0, 0.0]
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.10, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.10, 0.0, 0.0, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.0, 0.10]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
-type = "usergait"
-#x，y，z方向的落地位置偏置
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.10, 0.0, 0.0]
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.0, 0.0, 0.10, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
-step_height = [0.10, 0.0, 0.0, 0.0]
-type = "usergait"
-use_mpc_traj = 1
-weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
-
-[[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
-duration = 300
-gait_id = 110
-landing_gain = 1.75
-landing_pos_des = [
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  -0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-  0.02,
-  0.00,
-  0.0,
-]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -6002,8 +5687,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6023,14 +5708,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6048,15 +5733,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6074,15 +5759,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6100,15 +5785,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6128,14 +5813,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6153,15 +5838,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6179,15 +5864,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6205,15 +5890,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6233,14 +5918,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6258,15 +5943,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6284,15 +5969,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6310,15 +5995,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6338,14 +6023,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6363,15 +6048,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6389,15 +6074,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6415,7 +6100,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -6423,8 +6108,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6444,14 +6129,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6469,15 +6154,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6495,15 +6180,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6521,15 +6206,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6549,14 +6234,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6574,15 +6259,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6600,15 +6285,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6626,15 +6311,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6654,14 +6339,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6679,15 +6364,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6705,15 +6390,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6731,15 +6416,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6759,14 +6444,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6784,15 +6469,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6810,15 +6495,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6836,7 +6521,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -6844,8 +6529,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6865,14 +6550,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6890,15 +6575,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6916,15 +6601,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6942,15 +6627,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -6970,14 +6655,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -6995,15 +6680,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7021,15 +6706,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7047,15 +6732,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7075,14 +6760,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7100,15 +6785,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7126,15 +6811,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7152,15 +6837,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7180,14 +6865,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7205,15 +6890,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7231,15 +6916,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7257,7 +6942,427 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+# 1
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -7265,8 +7370,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7286,14 +7391,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7311,15 +7416,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7337,15 +7442,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7363,15 +7468,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7391,14 +7496,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7416,15 +7521,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7442,15 +7547,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7468,15 +7573,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7496,14 +7601,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7521,15 +7626,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7547,15 +7652,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7573,15 +7678,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7601,14 +7706,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7626,15 +7731,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7652,15 +7757,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7678,7 +7783,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -7686,8 +7791,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7707,14 +7812,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7732,15 +7837,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7758,15 +7863,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7784,15 +7889,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7812,14 +7917,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7837,15 +7942,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7863,15 +7968,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7889,15 +7994,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -7917,14 +8022,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7942,15 +8047,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7968,15 +8073,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -7994,15 +8099,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8022,14 +8127,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8047,15 +8152,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8073,15 +8178,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8099,7 +8204,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -8107,8 +8212,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8128,14 +8233,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8153,15 +8258,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8179,15 +8284,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8205,15 +8310,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8233,14 +8338,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8258,15 +8363,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8284,15 +8389,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8310,15 +8415,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8338,14 +8443,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8363,15 +8468,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8389,15 +8494,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8415,15 +8520,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8443,14 +8548,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8468,15 +8573,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8494,15 +8599,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8520,7 +8625,7 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
@@ -8528,8 +8633,8 @@ weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 # 1
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8549,14 +8654,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8574,15 +8679,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8600,15 +8705,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8626,15 +8731,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005] #roll、pitch、yaw、x、y、z
-body_vel_des = [0.10, 0.0, 0.0] #x,y,yaw
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
 type = "usergait"
 #x，y，z方向的落地位置偏置
 duration = 300
@@ -8654,14 +8759,14 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.10, 0.0, 0.0]
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8679,15 +8784,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.0, 0.0, 0.10, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8705,15 +8810,15 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
 step_height = [0.10, 0.0, 0.0, 0.0]
 type = "usergait"
 use_mpc_traj = 1
 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
 
 [[step]]
-body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.005]
-body_vel_des = [0.10, 0.0, 0.0]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
 duration = 300
 gait_id = 110
 landing_gain = 1.75
@@ -8731,7 +8836,1162 @@ landing_pos_des = [
   0.00,
   0.0,
 ]
-mu = 0.2
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+body_vel_des = [0.08, 0.0, 0.0] #x,y,yaw
+type = "usergait"
+#x，y，z方向的落地位置偏置
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.05, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.08, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.0, 0.10]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001] #roll、pitch、yaw、x、y、z
+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
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.10, 0.0, 0.0]
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.0, 0.0, 0.10, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
+step_height = [0.10, 0.0, 0.0, 0.0]
+type = "usergait"
+use_mpc_traj = 1
+weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0]
+
+[[step]]
+body_pos_des = [0.0, 0.20, 0.0, 0.0, 0.0, 0.001]
+body_vel_des = [0.15, 0.0, 0.0]
+duration = 300
+gait_id = 110
+landing_gain = 1.75
+landing_pos_des = [
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  -0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+  0.02,
+  0.00,
+  0.0,
+]
+mu = 0.5
 step_height = [0.0, 0.0, 0.0, 0.10]
 type = "usergait"
 use_mpc_traj = 1
diff --git a/task_3/Gait_Params_up_full.toml b/task_3/Gait_Params_up_full.toml
index 4f331cb..db5405b 100644
--- a/task_3/Gait_Params_up_full.toml
+++ b/task_3/Gait_Params_up_full.toml
@@ -2704,11 +2704,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -2719,11 +2719,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -2734,11 +2734,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -2749,11 +2749,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -2764,11 +2764,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -2779,11 +2779,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -2794,11 +2794,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -2809,11 +2809,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -2824,11 +2824,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -2839,11 +2839,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -2854,11 +2854,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -2869,11 +2869,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -2884,11 +2884,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -2899,11 +2899,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -2914,11 +2914,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -2929,11 +2929,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -2944,11 +2944,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -2959,11 +2959,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -2974,11 +2974,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -2989,11 +2989,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3004,11 +3004,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3019,11 +3019,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3034,11 +3034,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3049,11 +3049,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3064,11 +3064,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3079,11 +3079,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3094,11 +3094,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3109,11 +3109,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3124,11 +3124,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3139,11 +3139,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3154,11 +3154,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3169,11 +3169,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3184,11 +3184,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3199,11 +3199,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3214,11 +3214,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3229,11 +3229,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3244,11 +3244,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3259,11 +3259,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3274,11 +3274,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3289,11 +3289,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3304,11 +3304,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3319,11 +3319,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3334,11 +3334,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3349,11 +3349,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3364,11 +3364,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3379,11 +3379,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3394,11 +3394,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3409,11 +3409,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3424,11 +3424,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3439,11 +3439,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3454,11 +3454,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3469,11 +3469,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3484,11 +3484,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3499,11 +3499,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3514,11 +3514,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3529,11 +3529,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3544,11 +3544,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3559,11 +3559,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3574,11 +3574,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3589,11 +3589,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3604,11 +3604,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3619,11 +3619,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3634,11 +3634,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3649,11 +3649,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3664,11 +3664,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3679,11 +3679,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3694,11 +3694,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3709,11 +3709,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3724,11 +3724,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3739,11 +3739,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3754,11 +3754,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3769,11 +3769,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3784,11 +3784,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3799,11 +3799,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3814,11 +3814,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3829,11 +3829,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3844,11 +3844,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3859,11 +3859,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3874,11 +3874,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3889,11 +3889,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3904,11 +3904,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3919,11 +3919,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3934,11 +3934,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -3949,11 +3949,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -3964,11 +3964,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -3979,11 +3979,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -3994,11 +3994,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4009,11 +4009,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4024,11 +4024,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4039,11 +4039,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4054,11 +4054,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4069,11 +4069,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4084,11 +4084,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4099,11 +4099,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4114,11 +4114,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4129,11 +4129,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4144,11 +4144,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4159,11 +4159,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4174,11 +4174,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4189,11 +4189,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4204,11 +4204,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4219,11 +4219,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4234,11 +4234,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4249,11 +4249,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4264,11 +4264,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4279,11 +4279,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4294,11 +4294,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4309,11 +4309,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4324,11 +4324,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4339,11 +4339,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4354,11 +4354,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4369,11 +4369,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4384,11 +4384,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4399,11 +4399,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4414,11 +4414,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4429,11 +4429,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4444,11 +4444,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4459,11 +4459,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4474,11 +4474,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4489,11 +4489,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4504,11 +4504,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4519,11 +4519,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4534,11 +4534,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4549,11 +4549,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4564,11 +4564,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4579,11 +4579,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4594,11 +4594,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4609,11 +4609,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4624,11 +4624,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4639,11 +4639,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4654,11 +4654,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4669,11 +4669,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4684,11 +4684,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4699,11 +4699,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4714,11 +4714,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4729,11 +4729,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4744,11 +4744,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4759,11 +4759,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4774,11 +4774,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4789,11 +4789,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4804,11 +4804,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4819,11 +4819,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4834,11 +4834,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4849,11 +4849,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4864,11 +4864,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4879,11 +4879,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4894,11 +4894,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4909,11 +4909,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
@@ -4924,11 +4924,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100000.0, 0.0,]
 value = 1
@@ -4939,11 +4939,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100.0,]
 value = 1
@@ -4954,11 +4954,11 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 100.0, 0.0,]
 value = 1
@@ -4969,11 +4969,731 @@ mode = 11
 gait_id = 110
 contact = 17
 life_count = 0
-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
 acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
-ctrl_point = [ 0.02, 0.0, 0.2,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.05, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.08, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.15, 0.0,]
+pos_des = [ 0.0, 0.0, 0.001,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.5,]
 foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
 step_height = [ 0.0, 100000.0,]
 value = 1
diff --git a/task_3/Usergait_List.toml b/task_3/Usergait_List.toml
old mode 100644
new mode 100755
diff --git a/task_3/main.py b/task_3/main.py
index fe251df..7c869d8 100755
--- a/task_3/main.py
+++ b/task_3/main.py
@@ -25,7 +25,7 @@ robot_cmd = {
     'foot_pose':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
     'step_height':[0.0, 0.0],
     'value':0,  'duration':0
-    }
+}
 
 def main():
     lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
@@ -76,13 +76,28 @@ def main():
         file_obj_gait_def.close()
         file_obj_gait_params.close()
 
-        cmd_msg.mode = 62
-        cmd_msg.value = 0
-        cmd_msg.contact = 15
-        cmd_msg.gait_id = 110
-        cmd_msg.duration = 1000
-        cmd_msg.life_count += 1
-        for i in range(325): #15s Heat beat It is used to maintain the heartbeat when life count is not updated
+        user_gait_list = open("Usergait_List.toml",'r')
+        steps = toml.load(user_gait_list)
+        for step in steps['step']:
+            cmd_msg.mode = step['mode']
+            cmd_msg.value = step['value']
+            cmd_msg.contact = step['contact']
+            cmd_msg.gait_id = step['gait_id']
+            cmd_msg.duration = step['duration']
+            cmd_msg.life_count += 1
+            for i in range(3):
+                cmd_msg.vel_des[i] = step['vel_des'][i]
+                cmd_msg.rpy_des[i] = step['rpy_des'][i]
+                cmd_msg.pos_des[i] = step['pos_des'][i]
+                cmd_msg.acc_des[i] = step['acc_des'][i]
+                cmd_msg.acc_des[i+3] = step['acc_des'][i+3]
+                cmd_msg.foot_pose[i] = step['foot_pose'][i]
+                cmd_msg.ctrl_point[i] = step['ctrl_point'][i]
+            for i in range(2):
+                cmd_msg.step_height[i] = step['step_height'][i]
+            lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
+            time.sleep( 0.1 )
+        for i in range(999): #15s Heat beat It is used to maintain the heartbeat when life count is not updated
             lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
             time.sleep( 0.2 )
     except KeyboardInterrupt: