diff --git a/Gait_Params_up_full.toml b/Gait_Params_up_full.toml
new file mode 100644
index 0000000..4f331cb
--- /dev/null
+++ b/Gait_Params_up_full.toml
@@ -0,0 +1,4981 @@
+# Gait Params
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
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+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100000.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 100.0, 0.0,]
+value = 1
+duration = 300
+
+[[step]]
+mode = 11
+gait_id = 110
+contact = 17
+life_count = 0
+vel_des = [ 0.1, 0.0, 0.0,]
+rpy_des = [ 0.0, 0.0, 0.0,]
+pos_des = [ 0.0, 0.0, 0.005,]
+acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
+ctrl_point = [ 0.02, 0.0, 0.2,]
+foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
+step_height = [ 0.0, 100000.0,]
+value = 1
+duration = 300
+
diff --git a/task_3/main-ori.py b/task_3/main_ori.py
similarity index 91%
rename from task_3/main-ori.py
rename to task_3/main_ori.py
index 2d80c04..d1b1764 100755
--- a/task_3/main-ori.py
+++ b/task_3/main_ori.py
@@ -27,13 +27,13 @@ robot_cmd = {
     'value':0,  'duration':0
 }
 
-def main():
+def task_3_main(file_dir=""):
     lcm_cmd = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
     lcm_usergait = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
     usergait_msg = file_send_lcmt()
     cmd_msg = robot_control_cmd_lcmt()
     try:
-        steps = toml.load("Gait_Params_up.toml")
+        steps = toml.load(f"{file_dir}/Gait_Params_up.toml")
         full_steps = {'step':[robot_cmd]}
         k =0
         for i in steps['step']:
@@ -60,13 +60,13 @@ def main():
             else:
                 full_steps['step'].append(cmd)
             k=k+1
-        f = open("Gait_Params_up_full.toml", 'w')
+        f = open(f"{file_dir}/Gait_Params_up_full.toml", 'w')
         f.write("# Gait Params\n")
         f.writelines(toml.dumps(full_steps))
         f.close()
 
-        file_obj_gait_def = open("Gait_Def_up.toml",'r')
-        file_obj_gait_params = open("Gait_Params_up_full.toml",'r')
+        file_obj_gait_def = open(f"{file_dir}/Gait_Def_up.toml",'r')
+        file_obj_gait_params = open(f"{file_dir}/Gait_Params_up_full.toml",'r')
         usergait_msg.data = file_obj_gait_def.read()
         lcm_usergait.publish("user_gait_file",usergait_msg.encode())
         time.sleep(0.5)
@@ -76,7 +76,7 @@ def main():
         file_obj_gait_def.close()
         file_obj_gait_params.close()
 
-        user_gait_list = open("Usergait_List.toml",'r')
+        user_gait_list = open(f"{file_dir}/Usergait_List.toml",'r')
         steps = toml.load(user_gait_list)
         for step in steps['step']:
             cmd_msg.mode = step['mode']
@@ -110,4 +110,4 @@ def main():
     sys.exit()
 
 if __name__ == '__main__':
-    main()
+    task_3_main()
diff --git a/task_3/robot_control_cmd_lcmt copy.py b/task_3/robot_control_cmd_lcmt copy.py
deleted file mode 100755
index addedac..0000000
--- a/task_3/robot_control_cmd_lcmt copy.py	
+++ /dev/null
@@ -1,149 +0,0 @@
-# LCM type definitions This file automatically generated by lcm.
-try:
-    import cStringIO.StringIO as BytesIO
-except ImportError:
-    from io import BytesIO
-import struct
-
-class robot_control_cmd_lcmt(object):
-    __slots__ = ["mode", "gait_id", "contact", "life_count", "vel_des", "rpy_des", "pos_des", "acc_des", "ctrl_point", "foot_pose", "step_height", "value", "duration"]
-
-    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "float", "float", "float", "float", "float", "float", "float", "int32_t", "int32_t"]
-
-    __dimensions__ = [None, None, None, None, [3], [3], [3], [6], [3], [6], [2], None, None]
-
-    def __init__(self):
-        self.mode = 0
-        self.gait_id = 0
-        self.contact = 0
-        self.life_count = 0
-        self.vel_des = [ 0.0 for dim0 in range(3) ]
-        self.rpy_des = [ 0.0 for dim0 in range(3) ]
-        self.pos_des = [ 0.0 for dim0 in range(3) ]
-        self.acc_des = [ 0.0 for dim0 in range(6) ]
-        self.ctrl_point = [ 0.0 for dim0 in range(3) ]
-        self.foot_pose = [ 0.0 for dim0 in range(6) ]
-        self.step_height = [ 0.0 for dim0 in range(2) ]
-        self.value = 0
-        self.duration = 0
-
-    def encode(self):
-        buf = BytesIO()
-        buf.write(robot_control_cmd_lcmt._get_packed_fingerprint())
-        self._encode_one(buf)
-        return buf.getvalue()
-
-    def _encode_one(self, buf):
-        buf.write(struct.pack(">bbbb", self.mode, self.gait_id, self.contact, self.life_count))
-        buf.write(struct.pack('>3f', *self.vel_des[:3]))
-        buf.write(struct.pack('>3f', *self.rpy_des[:3]))
-        buf.write(struct.pack('>3f', *self.pos_des[:3]))
-        buf.write(struct.pack('>6f', *self.acc_des[:6]))
-        buf.write(struct.pack('>3f', *self.ctrl_point[:3]))
-        buf.write(struct.pack('>6f', *self.foot_pose[:6]))
-        buf.write(struct.pack('>2f', *self.step_height[:2]))
-        buf.write(struct.pack(">ii", self.value, self.duration))
-
-    def decode(data):
-        if hasattr(data, 'read'):
-            buf = data
-        else:
-            buf = BytesIO(data)
-        if buf.read(8) != robot_control_cmd_lcmt._get_packed_fingerprint():
-            raise ValueError("Decode error")
-        return robot_control_cmd_lcmt._decode_one(buf)
-    decode = staticmethod(decode)
-
-    def _decode_one(buf):
-        self = robot_control_cmd_lcmt()
-        self.mode, self.gait_id, self.contact, self.life_count = struct.unpack(">bbbb", buf.read(4))
-        self.vel_des = struct.unpack('>3f', buf.read(12))
-        self.rpy_des = struct.unpack('>3f', buf.read(12))
-        self.pos_des = struct.unpack('>3f', buf.read(12))
-        self.acc_des = struct.unpack('>6f', buf.read(24))
-        self.ctrl_point = struct.unpack('>3f', buf.read(12))
-        self.foot_pose = struct.unpack('>6f', buf.read(24))
-        self.step_height = struct.unpack('>2f', buf.read(8))
-        self.value, self.duration = struct.unpack(">ii", buf.read(8))
-        return self
-    _decode_one = staticmethod(_decode_one)
-
-    def _get_hash_recursive(parents):
-        if robot_control_cmd_lcmt in parents: return 0
-        tmphash = (0x476b61e296af96f5) & 0xffffffffffffffff
-        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
-        return tmphash
-    _get_hash_recursive = staticmethod(_get_hash_recursive)
-    _packed_fingerprint = None
-
-    def _get_packed_fingerprint():
-        if robot_control_cmd_lcmt._packed_fingerprint is None:
-            robot_control_cmd_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_cmd_lcmt._get_hash_recursive([]))
-        return robot_control_cmd_lcmt._packed_fingerprint
-    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
-
-    def get_hash(self):
-        """Get the LCM hash of the struct"""
-        return struct.unpack(">Q", robot_control_cmd_lcmt._get_packed_fingerprint())[0]
-
-class robot_control_response_lcmt(object):
-    __slots__ = ["mode", "gait_id", "contact", "order_process_bar", "switch_status", "ori_error", "footpos_error", "motor_error"]
-
-    __typenames__ = ["int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int8_t", "int16_t", "int32_t"]
-
-    __dimensions__ = [None, None, None, None, None, None, None, [12]]
-
-    def __init__(self):
-        self.mode = 0
-        self.gait_id = 0
-        self.contact = 0
-        self.order_process_bar = 0
-        self.switch_status = 0
-        self.ori_error = 0
-        self.footpos_error = 0
-        self.motor_error = [ 0 for dim0 in range(12) ]
-
-    def encode(self):
-        buf = BytesIO()
-        buf.write(robot_control_response_lcmt._get_packed_fingerprint())
-        self._encode_one(buf)
-        return buf.getvalue()
-
-    def _encode_one(self, buf):
-        buf.write(struct.pack(">bbbbbbh", self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error))
-        buf.write(struct.pack('>12i', *self.motor_error[:12]))
-
-    def decode(data):
-        if hasattr(data, 'read'):
-            buf = data
-        else:
-            buf = BytesIO(data)
-        if buf.read(8) != robot_control_response_lcmt._get_packed_fingerprint():
-            raise ValueError("Decode error")
-        return robot_control_response_lcmt._decode_one(buf)
-    decode = staticmethod(decode)
-
-    def _decode_one(buf):
-        self = robot_control_response_lcmt()
-        self.mode, self.gait_id, self.contact, self.order_process_bar, self.switch_status, self.ori_error, self.footpos_error = struct.unpack(">bbbbbbh", buf.read(8))
-        self.motor_error = struct.unpack('>12i', buf.read(48))
-        return self
-    _decode_one = staticmethod(_decode_one)
-
-    def _get_hash_recursive(parents):
-        if robot_control_response_lcmt in parents: return 0
-        tmphash = (0x485da98216eda8c7) & 0xffffffffffffffff
-        tmphash  = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff
-        return tmphash
-    _get_hash_recursive = staticmethod(_get_hash_recursive)
-    _packed_fingerprint = None
-
-    def _get_packed_fingerprint():
-        if robot_control_response_lcmt._packed_fingerprint is None:
-            robot_control_response_lcmt._packed_fingerprint = struct.pack(">Q", robot_control_response_lcmt._get_hash_recursive([]))
-        return robot_control_response_lcmt._packed_fingerprint
-    _get_packed_fingerprint = staticmethod(_get_packed_fingerprint)
-
-    def get_hash(self):
-        """Get the LCM hash of the struct"""
-        return struct.unpack(">Q", robot_control_response_lcmt._get_packed_fingerprint())[0]