diff --git a/main.py b/main.py
index 190472b..02a0acf 100644
--- a/main.py
+++ b/main.py
@@ -17,12 +17,12 @@ from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
 from utils.robot_control_response_lcmt import robot_control_response_lcmt
 from utils.localization_lcmt import localization_lcmt
 from utils.image_raw import ImageProcessor
-from utils.marker_client import MarkerRunner
+# from utils.marker_client import MarkerRunner
 from utils.base_msg import BaseMsg
 
 from task_1.task_1 import run_task_1
 from task_2_5.task_2_5 import run_task_2_5
-from task_4.task_4 import run_task_4
+from task_3.task_3 import run_task_3
 from task_test.task_left_line import run_task_test
 
 pass_marker = True
@@ -43,9 +43,10 @@ def main():
 
         # run_task_2_5(Ctrl, msg)
 
-        # run_task_4(Ctrl, msg)
+        # 执行任务3
+        run_task_3(Ctrl, msg)
 
-        run_task_test(Ctrl, msg)
+        # run_task_test(Ctrl, msg)
 
         # time.sleep(100)
 
@@ -74,7 +75,7 @@ class Robot_Ctrl(object):
         self.odo_msg = localization_lcmt()
         self.image_processor = ImageProcessor()
         # DEBUG
-        self.marker_runner = MarkerRunner(pass_flag=pass_marker)
+        # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()
         self.delay_cnt = 0
         self.mode_ok = 0
@@ -94,7 +95,7 @@ class Robot_Ctrl(object):
         self.rec_thread.start()
         self.odo_thread.start()
         self.image_processor.run()
-        self.marker_runner.run()
+        # self.marker_runner.run()
 
     def msg_handler(self, channel, data):
         self.rec_msg = robot_control_response_lcmt().decode(data)
@@ -160,6 +161,7 @@ class Robot_Ctrl(object):
         self.send_lock.release()
 
     def place_marker(self, x, y, z, color, observe=False):
+        return None
         """调用 MarkerRunner 放置标志物"""
         if self.marker_runner is None or self.marker_runner.marker_client is None:
             print("MarkerRunner 未初始化，无法放置标志物")
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_Def_up.toml b/task_3/Gait_Def_up.toml
new file mode 100644
index 0000000..e059273
--- /dev/null
+++ b/task_3/Gait_Def_up.toml
@@ -0,0 +1,5782 @@
+# 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
+
+# 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
+
+# 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
+
+# 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
+
+# 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
+
+#5
+[[section]]
+contact = [1, 1, 1, 1]
+duration = 5
diff --git a/task_3/Gait_Params_up.toml b/task_3/Gait_Params_up.toml
new file mode 100644
index 0000000..21cc6a1
--- /dev/null
+++ b/task_3/Gait_Params_up.toml
@@ -0,0 +1,8738 @@
+# Gait Params for moonwalk
+#步态参数 每个step代表一个参数块
+#FR，FL，RR，RL
+# 1
+
+[[step]]
+body_pos_des = [0.0, 0.0, 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]
+
+# 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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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
+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]
diff --git a/task_3/Gait_Params_up_full.toml b/task_3/Gait_Params_up_full.toml
new file mode 100644
index 0000000..4f331cb
--- /dev/null
+++ b/task_3/Gait_Params_up_full.toml
@@ -0,0 +1,4981 @@
+# Gait Params
+[[step]]
+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,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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
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+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+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 = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
diff --git a/task_3/Usergait_List.toml b/task_3/Usergait_List.toml
new file mode 100755
index 0000000..ad7f790
--- /dev/null
+++ b/task_3/Usergait_List.toml
@@ -0,0 +1,44 @@
+[[step]]
+acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+contact = 0 
+ctrl_point = [0.0, 0.0, 0.0] 
+duration = 0 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
+foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+gait_id = 0 
+life_count = 0 #Fake value
+mode = 12 
+pos_des = [0.0, 0.0, 0.0] 
+rpy_des = [0.0, 0.0, 0.0] 
+step_height = [0.0, 0.0] 
+value = 0 
+vel_des = [0.0, 0.0, 0.0] 
+
+[[step]]
+acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+contact = 15 
+ctrl_point = [0.0, 0.0, 0.0] 
+duration = 0 
+foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+gait_id = 110 
+life_count = 0 
+mode = 62 # User define gait
+pos_des = [0.0, 0.0, 0.0] 
+rpy_des = [0.0, 0.0, 0.0] 
+step_height = [0.0, 0.0] 
+value = 0 
+vel_des = [0.0, 0.0, 0.0] # velocity of x y yaw       
+
+# [[step]]
+# acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+# contact = 0 
+# ctrl_point = [0.0, 0.0, 0.0] 
+# duration = 1000 
+# foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
+# gait_id = 1 #采用受控趴下 
+# life_count = 0 
+# mode = 7 #Puredamper
+# pos_des = [0.0, 0.0, 0.0] 
+# rpy_des = [0.0, 0.0, 0.0] 
+# step_height = [0.0, 0.0] 
+# value = 0 
+# vel_des = [0.0, 0.0, 0.0]
diff --git a/task_3/file_send_lcmt.py b/task_3/file_send_lcmt.py
new file mode 100644
index 0000000..53226de
--- /dev/null
+++ b/task_3/file_send_lcmt.py
@@ -0,0 +1,67 @@
+"""LCM type definitions This file automatically generated by lcm.
+struct file_send_lcmt {
+    string data;
+}
+"""
+try:
+    import cStringIO.StringIO as BytesIO
+except ImportError:
+    from io import BytesIO
+import struct
+
+class file_send_lcmt(object):
+    __slots__ = ["data"]
+
+    __typenames__ = ["string"]
+
+    __dimensions__ = [None]
+
+    def __init__(self):
+        self.data = ""
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(file_send_lcmt._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        __data_encoded = self.data.encode('utf-8')
+        buf.write(struct.pack('>I', len(__data_encoded)+1))
+        buf.write(__data_encoded)
+        buf.write(b"\0")
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != file_send_lcmt._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return file_send_lcmt._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = file_send_lcmt()
+        __data_len = struct.unpack('>I', buf.read(4))[0]
+        self.data = buf.read(__data_len)[:-1].decode('utf-8', 'replace')
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if file_send_lcmt in parents: return 0
+        tmphash = (0x90df9b84cdceaf0a) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if file_send_lcmt._packed_fingerprint is None:
+            file_send_lcmt._packed_fingerprint = struct.pack(">Q", file_send_lcmt._get_hash_recursive([]))
+        return file_send_lcmt._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", file_send_lcmt._get_packed_fingerprint())[0]
\ No newline at end of file
diff --git a/task_3/main.py b/task_3/main.py
new file mode 100644
index 0000000..fc86e04
--- /dev/null
+++ b/task_3/main.py
@@ -0,0 +1,113 @@
+'''
+This demo show the communication interface of MR813 motion control board based on Lcm
+- robot_control_cmd_lcmt.py
+- file_send_lcmt.py
+- Gait_Def_moonwalk.toml
+- Gait_Params_moonwalk.toml
+- Usergait_List.toml
+'''
+import lcm
+import sys
+import time
+import toml
+import copy
+import math
+from robot_control_cmd_lcmt import robot_control_cmd_lcmt
+from file_send_lcmt import file_send_lcmt
+
+robot_cmd = {
+    'mode':0, 'gait_id':0, 'contact':0, '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':[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+    'ctrl_point':[0.0, 0.0, 0.0],
+    '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")
+    lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
+    usergait_msg = file_send_lcmt()
+    cmd_msg = robot_control_cmd_lcmt()
+    try:
+        steps = toml.load("Gait_Params_up.toml")
+        full_steps = {'step':[robot_cmd]}
+        k =0
+        for i in steps['step']:
+            cmd = copy.deepcopy(robot_cmd)
+            cmd['duration'] = i['duration']
+            if i['type'] == 'usergait':                
+                cmd['mode'] = 11 # LOCOMOTION
+                cmd['gait_id'] = 110 # USERGAIT
+                cmd['vel_des'] = i['body_vel_des']
+                cmd['rpy_des'] = i['body_pos_des'][0:3]
+                cmd['pos_des'] = i['body_pos_des'][3:6]
+                cmd['foot_pose'][0:2] = i['landing_pos_des'][0:2]
+                cmd['foot_pose'][2:4] = i['landing_pos_des'][3:5]
+                cmd['foot_pose'][4:6] = i['landing_pos_des'][6:8]
+                cmd['ctrl_point'][0:2] = i['landing_pos_des'][9:11]
+                cmd['step_height'][0] = math.ceil(i['step_height'][0] * 1e3) + math.ceil(i['step_height'][1] * 1e3) * 1e3
+                cmd['step_height'][1] = math.ceil(i['step_height'][2] * 1e3) + math.ceil(i['step_height'][3] * 1e3) * 1e3
+                cmd['acc_des'] = i['weight']
+                cmd['value'] = i['use_mpc_traj']
+                cmd['contact'] = math.floor(i['landing_gain'] * 1e1)
+                cmd['ctrl_point'][2] =  i['mu']
+            if k == 0:
+                full_steps['step'] = [cmd]
+            else:
+                full_steps['step'].append(cmd)
+            k=k+1
+        f = open("Gait_Params_up_full.toml", 'w')
+        f.write("# Gait Params\n")
+        f.writelines(toml.dumps(full_steps))
+        f.close()
+
+        file_obj_gait_def = open("Gait_Def_up.toml",'r')
+        file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
+        usergait_msg.data = file_obj_gait_def.read()
+        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
+        time.sleep(0.5)
+        usergait_msg.data = file_obj_gait_params.read()
+        lcm_usergait.publish("user_gait_file",usergait_msg.encode())
+        time.sleep(0.1)
+        file_obj_gait_def.close()
+        file_obj_gait_params.close()
+
+        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(325): #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:
+        cmd_msg.mode = 7 #PureDamper before KeyboardInterrupt:
+        cmd_msg.gait_id = 0
+        cmd_msg.duration = 0
+        cmd_msg.life_count += 1
+        lcm_cmd.publish("robot_control_cmd",cmd_msg.encode())
+        pass
+    sys.exit()
+
+if __name__ == '__main__':
+    main()
diff --git a/task_3/robot_control_cmd_lcmt.py b/task_3/robot_control_cmd_lcmt.py
new file mode 100644
index 0000000..addedac
--- /dev/null
+++ b/task_3/robot_control_cmd_lcmt.py
@@ -0,0 +1,149 @@
+# LCM type definitions This file automatically generated by lcm.
+try:
+    import cStringIO.StringIO as BytesIO
+except ImportError:
+    from io import BytesIO
+import struct
+
+class robot_control_cmd_lcmt(object):
+    __slots__ = ["mode", "gait_id", "contact", "life_count", "vel_des", "rpy_des", "pos_des", "acc_des", "ctrl_point", "foot_pose", "step_height", "value", "duration"]
+
+    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "float", "float", "float", "float", "float", "float", "float", "int32_t", "int32_t"]
+
+    __dimensions__ = [None, None, None, None, [3], [3], [3], [6], [3], [6], [2], None, None]
+
+    def __init__(self):
+        self.mode = 0
+        self.gait_id = 0
+        self.contact = 0
+        self.life_count = 0
+        self.vel_des = [ 0.0 for dim0 in range(3) ]
+        self.rpy_des = [ 0.0 for dim0 in range(3) ]
+        self.pos_des = [ 0.0 for dim0 in range(3) ]
+        self.acc_des = [ 0.0 for dim0 in range(6) ]
+        self.ctrl_point = [ 0.0 for dim0 in range(3) ]
+        self.foot_pose = [ 0.0 for dim0 in range(6) ]
+        self.step_height = [ 0.0 for dim0 in range(2) ]
+        self.value = 0
+        self.duration = 0
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(robot_control_cmd_lcmt._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        buf.write(struct.pack(">bbbb", self.mode, self.gait_id, self.contact, self.life_count))
+        buf.write(struct.pack('>3f', *self.vel_des[:3]))
+        buf.write(struct.pack('>3f', *self.rpy_des[:3]))
+        buf.write(struct.pack('>3f', *self.pos_des[:3]))
+        buf.write(struct.pack('>6f', *self.acc_des[:6]))
+        buf.write(struct.pack('>3f', *self.ctrl_point[:3]))
+        buf.write(struct.pack('>6f', *self.foot_pose[:6]))
+        buf.write(struct.pack('>2f', *self.step_height[:2]))
+        buf.write(struct.pack(">ii", self.value, self.duration))
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != robot_control_cmd_lcmt._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return robot_control_cmd_lcmt._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = robot_control_cmd_lcmt()
+        self.mode, self.gait_id, self.contact, self.life_count = struct.unpack(">bbbb", buf.read(4))
+        self.vel_des = struct.unpack('>3f', buf.read(12))
+        self.rpy_des = struct.unpack('>3f', buf.read(12))
+        self.pos_des = struct.unpack('>3f', buf.read(12))
+        self.acc_des = struct.unpack('>6f', buf.read(24))
+        self.ctrl_point = struct.unpack('>3f', buf.read(12))
+        self.foot_pose = struct.unpack('>6f', buf.read(24))
+        self.step_height = struct.unpack('>2f', buf.read(8))
+        self.value, self.duration = struct.unpack(">ii", buf.read(8))
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if robot_control_cmd_lcmt in parents: return 0
+        tmphash = (0x476b61e296af96f5) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if robot_control_cmd_lcmt._packed_fingerprint is None:
+            robot_control_cmd_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_cmd_lcmt._get_hash_recursive([]))
+        return robot_control_cmd_lcmt._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", robot_control_cmd_lcmt._get_packed_fingerprint())[0]
+
+class robot_control_response_lcmt(object):
+    __slots__ = ["mode", "gait_id", "contact", "order_process_bar", "switch_status", "ori_error", "footpos_error", "motor_error"]
+
+    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int16_t", "int32_t"]
+
+    __dimensions__ = [None, None, None, None, None, None, None, [12]]
+
+    def __init__(self):
+        self.mode = 0
+        self.gait_id = 0
+        self.contact = 0
+        self.order_process_bar = 0
+        self.switch_status = 0
+        self.ori_error = 0
+        self.footpos_error = 0
+        self.motor_error = [ 0 for dim0 in range(12) ]
+
+    def encode(self):
+        buf = BytesIO()
+        buf.write(robot_control_response_lcmt._get_packed_fingerprint())
+        self._encode_one(buf)
+        return buf.getvalue()
+
+    def _encode_one(self, buf):
+        buf.write(struct.pack(">bbbbbbh", self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error))
+        buf.write(struct.pack('>12i', *self.motor_error[:12]))
+
+    def decode(data):
+        if hasattr(data, 'read'):
+            buf = data
+        else:
+            buf = BytesIO(data)
+        if buf.read(8) != robot_control_response_lcmt._get_packed_fingerprint():
+            raise ValueError("Decode error")
+        return robot_control_response_lcmt._decode_one(buf)
+    decode = staticmethod(decode)
+
+    def _decode_one(buf):
+        self = robot_control_response_lcmt()
+        self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error = struct.unpack(">bbbbbbh", buf.read(8))
+        self.motor_error = struct.unpack('>12i', buf.read(48))
+        return self
+    _decode_one = staticmethod(_decode_one)
+
+    def _get_hash_recursive(parents):
+        if robot_control_response_lcmt in parents: return 0
+        tmphash = (0x485da98216eda8c7) & 0xffffffffffffffff
+        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
+        return tmphash
+    _get_hash_recursive = staticmethod(_get_hash_recursive)
+    _packed_fingerprint = None
+
+    def _get_packed_fingerprint():
+        if robot_control_response_lcmt._packed_fingerprint is None:
+            robot_control_response_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_response_lcmt._get_hash_recursive([]))
+        return robot_control_response_lcmt._packed_fingerprint
+    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
+
+    def get_hash(self):
+        """Get the LCM hash of the struct"""
+        return struct.unpack(">Q", robot_control_response_lcmt._get_packed_fingerprint())[0]
diff --git a/task_3/task_3.py b/task_3/task_3.py
new file mode 100644
index 0000000..bca6f7f
--- /dev/null
+++ b/task_3/task_3.py
@@ -0,0 +1,105 @@
+import time
+import sys
+import os
+import toml
+
+# 添加父目录到路径，以便能够导入utils
+sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+# 添加当前目录到路径，确保可以找到local文件
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+
+from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
+from base_move.turn_degree import turn_degree
+from base_move.go_straight import go_straight
+from file_send_lcmt import file_send_lcmt
+
+# 创建本模块特定的日志记录器
+logger = get_logger("任务3")
+
+observe = True
+
+def load_gait_file(file_path):
+    """加载步态文件"""
+    try:
+        with open(file_path, 'r') as f:
+            return f.read()
+    except Exception as e:
+        error(f"加载步态文件失败: {e}", "文件")
+        return None
+
+def run_task_3(ctrl, msg):
+    section('任务3：步态切换', "启动")
+    info('开始执行任务3...', "启动")
+    
+    # 创建一个LCM通信实例用于发送文件
+    lc_file = ctrl.lc_s  # 复用已有的LCM发送通道
+    
+    section('任务3-1：切换到直立步态', "步态")
+    # 加载直立步态文件
+    gait_up_def = load_gait_file(os.path.join(os.path.dirname(__file__), "Gait_Def_up.toml"))
+    gait_up_params = load_gait_file(os.path.join(os.path.dirname(__file__), "Gait_Params_up.toml"))
+    
+    if gait_up_def and gait_up_params:
+        # 发送步态定义文件
+        file_msg = file_send_lcmt()
+        file_msg.data = gait_up_def
+        lc_file.publish("Gait_Def", file_msg.encode())
+        time.sleep(0.5)  # 等待处理
+        
+        # 发送步态参数文件
+        file_msg.data = gait_up_params
+        lc_file.publish("Gait_Params", file_msg.encode())
+        time.sleep(0.5)  # 等待处理
+        
+        # 执行步态切换
+        msg.mode = 62  # 用户自定义步态模式
+        msg.gait_id = 110  # 根据Usergait_List.toml定义
+        ctrl.Send_cmd(msg)
+        
+        # 等待步态切换完成
+        success("直立步态切换完成", "步态")
+        time.sleep(2)  # 给机器人一些时间适应新步态
+        
+        # 使用新步态进行简单移动
+        go_straight(ctrl, msg, distance=0.5, speed=0.3, observe=observe)
+    else:
+        error("直立步态文件加载失败，无法执行任务3-1", "错误")
+        return
+    
+    section('任务3-2：切换到后退步态', "步态")
+    # 加载后退步态文件
+    gait_moonwalk_def = load_gait_file(os.path.join(os.path.dirname(__file__), "Gait_Def_moonwalk.toml"))
+    gait_moonwalk_params = load_gait_file(os.path.join(os.path.dirname(__file__), "Gait_Params_moonwalk.toml"))
+    
+    if gait_moonwalk_def and gait_moonwalk_params:
+        # 发送步态定义文件
+        file_msg = file_send_lcmt()
+        file_msg.data = gait_moonwalk_def
+        lc_file.publish("Gait_Def", file_msg.encode())
+        time.sleep(0.5)  # 等待处理
+        
+        # 发送步态参数文件
+        file_msg.data = gait_moonwalk_params
+        lc_file.publish("Gait_Params", file_msg.encode())
+        time.sleep(0.5)  # 等待处理
+        
+        # 执行步态切换
+        msg.mode = 62  # 用户自定义步态模式
+        msg.gait_id = 110  # 根据Usergait_List.toml定义
+        ctrl.Send_cmd(msg)
+        
+        # 等待步态切换完成
+        success("后退步态切换完成", "步态")
+        time.sleep(2)  # 给机器人一些时间适应新步态
+        
+        # 使用新步态进行简单移动
+        go_straight(ctrl, msg, distance=-0.5, speed=0.3, observe=observe)
+    else:
+        error("后退步态文件加载失败，无法执行任务3-2", "错误")
+        return
+    
+    # 回到默认步态
+    section('任务3-3：恢复默认步态', "步态")
+    ctrl.base_msg.stand_up()  # 使用基础消息模块恢复到默认站立姿态
+    
+    success("任务3完成", "完成") 
\ No newline at end of file
diff --git a/task_4/task_4.py b/task_4/task_4.py
deleted file mode 100644
index 4efd29c..0000000
--- a/task_4/task_4.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import time
-import sys
-import os
-
-# 添加父目录到路径，以便能够导入utils
-sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-
-from base_move.turn_degree import turn_degree
-from base_move.go_straight import go_straight
-from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
-
-# 创建本模块特定的日志记录器
-logger = get_logger("任务5")
-
-def run_task_4(ctrl, msg):
-    """
-    参数:
-        ctrl: Robot_Ctrl对象
-        msg: 控制消息对象
-        image_processor: 可选的图像处理器实例
-    """
-
-    turn_degree(ctrl, msg, 90, absolute=90)
-
-    time.sleep(100)
-
-    # go_straight(ctrl, msg, distance=6)
-