diff --git a/base_move/move_base_hori_line.py b/base_move/move_base_hori_line.py
index bb921d9..6b6d053 100644
--- a/base_move/move_base_hori_line.py
+++ b/base_move/move_base_hori_line.py
@@ -1334,3 +1334,4 @@ def follow_left_side_track(ctrl, msg, min_distance=600, max_distance=650, speed=
         if observe:
             warning("无法检测最终位置的左侧轨迹线", "警告")
         return False
+
diff --git a/task_4/Gait_Def_up.toml b/task_4/Gait_Def_stoop.toml
similarity index 100%
rename from task_4/Gait_Def_up.toml
rename to task_4/Gait_Def_stoop.toml
diff --git a/task_4/Gait_Params_up.toml b/task_4/Gait_Params_stoop.toml
similarity index 100%
rename from task_4/Gait_Params_up.toml
rename to task_4/Gait_Params_stoop.toml
diff --git a/task_4/Gait_Params_up_full.toml b/task_4/Gait_Params_up_full.toml
deleted file mode 100644
index 5a626ec..0000000
--- a/task_4/Gait_Params_up_full.toml
+++ /dev/null
@@ -1,4981 +0,0 @@
-# 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
-life_count = 0
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 17
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-rpy_des = [ 0.0, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
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-step_height = [ 0.0, 100000.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 100000.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-step_height = [ 0.0, 100.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-pos_des = [ 0.0, 0.0, 0.005,]
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-step_height = [ 100.0, 0.0,]
-value = 1
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
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-vel_des = [ 0.1, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 0.0,]
-pos_des = [ 0.0, 0.0, 0.005,]
-acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
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-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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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, 0.2, 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_4/pass_bar.py b/task_4/pass_bar.py
index f5364ad..ccf6bcd 100644
--- a/task_4/pass_bar.py
+++ b/task_4/pass_bar.py
@@ -33,22 +33,16 @@ robot_cmd = {
     'value':0,  'duration':0
 }
 
-def run_task_5(ctrl, msg):
+def pass_bar(ctrl, msg):
     """
     俯身通过一个栅栏
     """
-    section('任务5：步态切换', "启动")
-    info('开始执行任务5...', "启动")
-
-    turn_degree(ctrl, msg, 90, absolute=True)
-
-    section('任务5-1：切换步态', "启动")
     # 切换步态
     usergait_msg = file_send_lcmt()
     lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
     
     try:
-        steps = toml.load("./task_5/Gait_Params_up.toml")
+        steps = toml.load("./task_4/Gait_Params_stoop.toml")
         full_steps = {'step':[robot_cmd]}
         k =0
         for i in steps['step']:
@@ -75,14 +69,14 @@ def run_task_5(ctrl, msg):
             else:
                 full_steps['step'].append(cmd)
             k=k+1
-        f = open("./task_5/Gait_Params_up_full.toml", 'w')
+        f = open("./task_4/Gait_Params_stoop_full.toml", 'w')
         f.write("# Gait Params\n")
         f.writelines(toml.dumps(full_steps))
         f.close()
 
         # pre
-        file_obj_gait_def = open("./task_5/Gait_Def_up.toml",'r')
-        file_obj_gait_params = open("./task_5/Gait_Params_up_full.toml",'r')
+        file_obj_gait_def = open("./task_4/Gait_Def_stoop.toml",'r')
+        file_obj_gait_params = open("./task_4/Gait_Params_stoop_full.toml",'r')
         usergait_msg.data = file_obj_gait_def.read()
         lcm_usergait.publish("user_gait_file",usergait_msg.encode())
         time.sleep(0.5)
@@ -92,7 +86,7 @@ def run_task_5(ctrl, msg):
         file_obj_gait_def.close()
         file_obj_gait_params.close()
 
-        file_obj_gait_params = open("./task_5/Gait_Params_up_full.toml",'r')
+        file_obj_gait_params = open("./task_4/Gait_Params_stoop_full.toml",'r')
         usergait_msg.data = file_obj_gait_params.read()
         lcm_usergait.publish("user_gait_file", usergait_msg.encode())
         time.sleep(0.5)
diff --git a/task_4/task_4.py b/task_4/task_4.py
index 3b96500..f39fc62 100644
--- a/task_4/task_4.py
+++ b/task_4/task_4.py
@@ -12,6 +12,8 @@ from base_move.go_straight import go_straight
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 from utils.gray_sky_analyzer import analyze_gray_sky_ratio
 
+from task_4.pass_bar import pass_bar
+
 # 创建本模块特定的日志记录器
 logger = get_logger("任务4")
 
@@ -22,13 +24,24 @@ def run_task_4(ctrl, msg):
         msg: 控制消息对象
         image_processor: 可选的图像处理器实例
     """
-
-    section('任务4-1：直线移动', "移动")
-    go_straight(ctrl, msg, distance=6)
-    
-    section('任务4-2：移动直到灰色天空比例小于阈值', "天空检测")
+    section('任务4-1：移动直到灰色天空比例小于阈值', "天空检测")
     go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2)
 
+    section('任务4-2：通过栏杆', "移动")
+    pass_bar(ctrl, msg)
+
+    section('任务4-3：直线移动 - 石板路', "移动")
+    # 设置机器人运动模式为快步跑
+    msg.mode = 11  # 运动模式
+    msg.gait_id = 3  # 步态ID（快步跑）
+    msg.vel_des = [0.35, 0, 0]  # 期望速度
+    msg.pos_des = [ 0, 0, 0]
+    msg.duration = 0  # 零时长表示持续运动，直到接收到新命令
+    msg.step_height = [0.21, 0.21]  # 持续运动时摆动腿的离地高度
+    msg.life_count += 1
+    ctrl.Send_cmd(msg)
+    time.sleep(5000)  # 持续5秒钟
+
 
 def go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2, step_distance=0.5, max_distance=10, speed=0.3):
     """
@@ -109,5 +122,24 @@ def go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2, step_d
     
     return success_flag
 
-    
 
+def run_task_4_back(ctrl, msg):
+    section('任务4-1：直线移动', "移动")
+    # 设置机器人运动模式为快步跑
+    msg.mode = 11  # 运动模式
+    msg.gait_id = 3  # 步态ID（快步跑）
+    msg.vel_des = [0.35, 0, 0]  # 期望速度
+    msg.pos_des = [ 0, 0, 0]
+    msg.duration = 0  # 零时长表示持续运动，直到接收到新命令
+    msg.step_height = [0.21, 0.21]  # 持续运动时摆动腿的离地高度
+    msg.life_count += 1
+    ctrl.Send_cmd(msg)
+    time.sleep(5000)  # 持续5秒钟
+
+    section('任务4-2：移动直到灰色天空比例小于阈值', "天空检测")
+    go_straight_until_sky_ratio_below(ctrl, msg, sky_ratio_threshold=0.2)
+
+    section('任务4-3：通过栏杆', "移动")
+    pass_bar(ctrl, msg)
+
+    
\ No newline at end of file