diff --git a/main.py b/main.py index 0856d0c..35d5ac2 100755 --- a/main.py +++ b/main.py @@ -26,6 +26,7 @@ from utils.speech_demo import speak from task_1.task_1 import run_task_1 # , run_task_1_back from task_2.task_2 import run_task_2, run_task_2_back, run_task_2_demo +from task_2.xiesi2 import xiesi2,xiesi2_back from task_2_5.task_2_5 import run_task_2_5, run_task_2_5_back from task_3.task_3 import run_task_3, run_task_3_back from task_4.task_4 import run_task_4, run_task_4_back @@ -50,7 +51,7 @@ class TaskType(Enum): MOVE_TO_LINE = auto() # TODO 直走逼近直线测试 CENTER_ON_DUAL_TRACKS = auto() # TODO 双轨道居中测试 -TASK = TaskType.PASS_BAR +TASK = TaskType.TASK def main(): rclpy.init() # 新增：在主程序中统一初始化 ROS 2 上下文 @@ -98,50 +99,52 @@ def main(): # TAG task - 1 # run_task_1(Ctrl, msg, time_sleep=TIME_SLEEP) - # Ctrl.base_msg.lie_down(wait_time=300000) + # Ctrl.base_msg.lie_down(wait_time=5000) # print('wait 30s') # TAG task - 2 - #Ctrl.base_msg.stand_up() + # Ctrl.base_msg.stand_up() # arrow_direction='left' - # arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False) # TEST - # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) + # # arrow_direction = run_task_2_demo(Ctrl, msg, xy_flag=False) # TEST + # # arrow_direction = run_task_2(Ctrl, msg, xy_flag=False) # arrow_direction = xiesi2(Ctrl, msg) + + # arrow_direction='left' # print('🏹 arrow_direction: ', arrow_direction) - # Ctrl.base_msg.lie_down(wait_time=300000) + # Ctrl.base_msg.lie_down(wait_time=10000) # print('wait 30s') # arrow_direction = 'right' - # if(arrow_direction=='left'): speak("左侧路线") - # else: speak("右侧路线") + # # if(arrow_direction=='left'): speak("左侧路线") + # # else: speak("右侧路线") - #TAG task - 2.5 + # #TAG task - 2.5 # run_task_2_5(Ctrl, msg, direction=arrow_direction) - # Ctrl.base_msg.lie_down(wait_time=300000) + # Ctrl.base_msg.lie_down(wait_time=10000) # print('wait 30s') - arrow_direction = 'left' - #TAG task - 3 / 4 - part I + #TAG task - 3 / 4 - part I + arrow_direction = 'left' # Ctrl.base_msg.stand_up() - if arrow_direction == 'left': - run_task_4(Ctrl, msg) - else: - run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) # 直接上下坡，然后走到 黄灯前原地踏步的部分 - # Ctrl.base_msg.lie_down(wait_time=300000) + # if arrow_direction == 'left': + # run_task_4(Ctrl, msg) + # else: + # run_task_3(Ctrl, msg, time_sleep=TIME_SLEEP) # 直接上下坡，然后走到 黄灯前原地踏步的部分 + # Ctrl.base_msg.lie_down(wait_time=10000 # print('wait 30s') # TAG task - 5 - # Ctrl.base_msg.stand_up() - turn_degree_v2(Ctrl, msg, degree=90, absolute=True) + Ctrl.base_msg.stand_up() + #turn_degree_v2(Ctrl, msg, degree=90, absolute=True) success, qr=run_task_5(Ctrl, msg, direction=arrow_direction, observe=True, time_sleep=TIME_SLEEP) # B区任务 print(success) print(qr) - # Ctrl.base_msg.lie_down(wait_time=300000) + Ctrl.base_msg.lie_down(wait_time=10000) # print('wait 30s') @@ -154,14 +157,14 @@ def main(): # #TAG task - 2.5 - back # run_task_2_5_back(Ctrl, msg, direction=arrow_direction) - # Ctrl.base_msg.lie_down(wait_time=300000) + # Ctrl.base_msg.lie_down(wait_time=10000) # print('wait 30s') # Ctrl.base_msg.stand_up() # TAG task - 2 - back # run_task_2_back(Ctrl, msg) # xiesi2_back(Ctrl, msg) - # Ctrl.base_msg.lie_down(wait_time=300000) + # Ctrl.base_msg.lie_down(wait_time=10000) # print('wait 30s') # Ctrl.base_msg.stand_up() diff --git a/task_1/task_1.py b/task_1/task_1.py index 187460c..80bbb0e 100755 --- a/task_1/task_1.py +++ b/task_1/task_1.py @@ -61,8 +61,8 @@ def run_task_1(ctrl, msg, time_sleep=5000): section('任务1-3：转弯', "旋转") direction = False if res.get('qr_result') == 'A-1' else True # TODO 需要检查一下，这个方向是否正确 - if direction == False :speak("A 区库位 1") - else:speak("A 区库位 2") + # if direction == False :speak("A 区库位 1") + # else:speak("A 区库位 2") turn_success, res = arc_turn_around_hori_line( ctrl=ctrl, diff --git a/task_3/Gait_Params_up.toml b/task_3/Gait_Params_up.toml index e68c848..21cc6a1 100755 --- a/task_3/Gait_Params_up.toml +++ b/task_3/Gait_Params_up.toml @@ -26,7 +26,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -51,7 +51,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -77,7 +77,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -103,7 +103,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -132,7 +132,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -157,7 +157,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -183,7 +183,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -209,7 +209,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -237,7 +237,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -262,7 +262,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -288,7 +288,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -314,7 +314,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -342,7 +342,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -367,7 +367,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -393,7 +393,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -419,7 +419,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -447,7 +447,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -472,7 +472,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -498,7 +498,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -524,7 +524,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -553,7 +553,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -578,7 +578,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -604,7 +604,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -630,7 +630,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -658,7 +658,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -683,7 +683,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -709,7 +709,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -735,7 +735,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -763,7 +763,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -788,7 +788,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -814,7 +814,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -840,7 +840,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -868,7 +868,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -893,7 +893,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -919,7 +919,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -945,7 +945,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -974,7 +974,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -999,7 +999,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1025,7 +1025,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1051,7 +1051,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1079,7 +1079,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1104,7 +1104,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1130,7 +1130,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1156,7 +1156,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1184,7 +1184,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1209,7 +1209,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1235,7 +1235,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1261,7 +1261,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1289,7 +1289,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1314,7 +1314,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1340,7 +1340,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1366,7 +1366,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1395,7 +1395,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1420,7 +1420,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1446,7 +1446,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1472,7 +1472,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1500,7 +1500,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1525,7 +1525,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1551,7 +1551,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1577,7 +1577,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1605,7 +1605,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1630,7 +1630,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1656,7 +1656,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1682,7 +1682,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1710,7 +1710,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1735,7 +1735,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1761,7 +1761,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1787,7 +1787,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1816,7 +1816,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1841,7 +1841,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1867,7 +1867,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1893,7 +1893,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1921,7 +1921,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1946,7 +1946,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1972,7 +1972,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -1998,7 +1998,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2026,7 +2026,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2051,7 +2051,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2077,7 +2077,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2103,7 +2103,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2131,7 +2131,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2156,7 +2156,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2182,7 +2182,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2208,7 +2208,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2236,7 +2236,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2261,7 +2261,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2287,7 +2287,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2313,7 +2313,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2341,7 +2341,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2366,7 +2366,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2392,7 +2392,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2418,7 +2418,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2446,7 +2446,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2471,7 +2471,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2497,7 +2497,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2523,7 +2523,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2551,7 +2551,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2576,7 +2576,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2602,7 +2602,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2628,7 +2628,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2657,7 +2657,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2682,7 +2682,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2708,7 +2708,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2734,7 +2734,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2762,7 +2762,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2787,7 +2787,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2813,7 +2813,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2839,7 +2839,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2867,7 +2867,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2892,7 +2892,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2918,7 +2918,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2944,7 +2944,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2972,7 +2972,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -2997,7 +2997,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3023,7 +3023,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3049,7 +3049,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3078,7 +3078,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3103,7 +3103,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3129,7 +3129,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3155,7 +3155,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3183,7 +3183,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3208,7 +3208,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3234,7 +3234,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3260,7 +3260,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3288,7 +3288,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3313,7 +3313,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3339,7 +3339,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3365,7 +3365,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3393,7 +3393,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3418,7 +3418,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3444,7 +3444,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3470,7 +3470,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3499,7 +3499,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3524,7 +3524,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3550,7 +3550,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3576,7 +3576,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3604,7 +3604,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3629,7 +3629,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3655,7 +3655,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3681,7 +3681,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3709,7 +3709,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3734,7 +3734,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3760,7 +3760,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3786,7 +3786,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3814,7 +3814,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3839,7 +3839,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3865,7 +3865,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3891,7 +3891,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3920,7 +3920,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3945,7 +3945,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3971,7 +3971,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -3997,7 +3997,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4025,7 +4025,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4050,7 +4050,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4076,7 +4076,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4102,7 +4102,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4130,7 +4130,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4155,7 +4155,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4181,7 +4181,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4207,7 +4207,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4235,7 +4235,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4260,7 +4260,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4286,7 +4286,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4312,7 +4312,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4341,7 +4341,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4366,7 +4366,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4392,7 +4392,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4418,7 +4418,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4446,7 +4446,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4471,7 +4471,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4497,7 +4497,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4523,7 +4523,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4551,7 +4551,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4576,7 +4576,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4602,7 +4602,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4628,7 +4628,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4656,7 +4656,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4681,7 +4681,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4707,7 +4707,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4733,7 +4733,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4762,7 +4762,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4787,7 +4787,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4813,7 +4813,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4839,7 +4839,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4867,7 +4867,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4892,7 +4892,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4918,7 +4918,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4944,7 +4944,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4972,7 +4972,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -4997,7 +4997,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5023,7 +5023,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5049,7 +5049,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5077,7 +5077,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5102,7 +5102,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5128,7 +5128,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5154,7 +5154,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5183,7 +5183,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5208,7 +5208,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5234,7 +5234,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5260,7 +5260,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5288,7 +5288,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5313,7 +5313,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5339,7 +5339,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5365,7 +5365,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5393,7 +5393,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5418,7 +5418,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5444,7 +5444,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5470,7 +5470,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5498,7 +5498,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5523,7 +5523,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5549,7 +5549,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5575,7 +5575,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5603,7 +5603,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5628,7 +5628,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5654,7 +5654,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5680,7 +5680,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5708,7 +5708,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5733,7 +5733,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5759,7 +5759,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5785,7 +5785,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5813,7 +5813,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5838,7 +5838,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5864,7 +5864,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5890,7 +5890,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5918,7 +5918,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5943,7 +5943,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5969,7 +5969,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -5995,7 +5995,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6024,7 +6024,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6049,7 +6049,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6075,7 +6075,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6101,7 +6101,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6129,7 +6129,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6154,7 +6154,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6180,7 +6180,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6206,7 +6206,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6234,7 +6234,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6259,7 +6259,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6285,7 +6285,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6311,7 +6311,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6339,7 +6339,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6364,7 +6364,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6390,7 +6390,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6416,7 +6416,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6445,7 +6445,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6470,7 +6470,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6496,7 +6496,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6522,7 +6522,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6550,7 +6550,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6575,7 +6575,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6601,7 +6601,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6627,7 +6627,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6655,7 +6655,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6680,7 +6680,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6706,7 +6706,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6732,7 +6732,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6760,7 +6760,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6785,7 +6785,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6811,7 +6811,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6837,7 +6837,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6866,7 +6866,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6891,7 +6891,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6917,7 +6917,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6943,7 +6943,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6971,7 +6971,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -6996,7 +6996,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7022,7 +7022,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7048,7 +7048,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7076,7 +7076,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7101,7 +7101,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7127,7 +7127,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7153,7 +7153,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7181,7 +7181,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7206,7 +7206,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7232,7 +7232,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7258,7 +7258,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7287,7 +7287,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7312,7 +7312,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7338,7 +7338,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7364,7 +7364,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7392,7 +7392,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7417,7 +7417,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7443,7 +7443,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7469,7 +7469,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7497,7 +7497,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7522,7 +7522,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7548,7 +7548,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7574,7 +7574,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7602,7 +7602,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7627,7 +7627,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7653,7 +7653,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7679,7 +7679,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7708,7 +7708,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7733,7 +7733,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7759,7 +7759,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7785,7 +7785,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7813,7 +7813,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7838,7 +7838,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7864,7 +7864,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7890,7 +7890,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7918,7 +7918,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7943,7 +7943,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7969,7 +7969,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -7995,7 +7995,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8023,7 +8023,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8048,7 +8048,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8074,7 +8074,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8100,7 +8100,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8129,7 +8129,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8154,7 +8154,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8180,7 +8180,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8206,7 +8206,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8234,7 +8234,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8259,7 +8259,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8285,7 +8285,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8311,7 +8311,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8339,7 +8339,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8364,7 +8364,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8390,7 +8390,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8416,7 +8416,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8444,7 +8444,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8469,7 +8469,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8495,7 +8495,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8521,7 +8521,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8550,7 +8550,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8575,7 +8575,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8601,7 +8601,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8627,7 +8627,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8655,7 +8655,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.20, 0.0, 0.0] +step_height = [0.0, 0.10, 0.0, 0.0] use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8680,7 +8680,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.20, 0.0] +step_height = [0.0, 0.0, 0.10, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8706,7 +8706,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.20, 0.0, 0.0, 0.0] +step_height = [0.10, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] @@ -8732,7 +8732,7 @@ landing_pos_des = [ 0.0, ] mu = 0.2 -step_height = [0.0, 0.0, 0.0, 0.20] +step_height = [0.0, 0.0, 0.0, 0.10] type = "usergait" use_mpc_traj = 1 weight = [20.0, 25.0, 30.0, 10.0, 10.0, 50.0] diff --git a/task_3/Gait_Params_up_full.toml b/task_3/Gait_Params_up_full.toml old mode 100755 new mode 100644 diff --git a/task_5/task_5.py b/task_5/task_5.py index 8e15c21..67ab638 100755 --- a/task_5/task_5.py +++ b/task_5/task_5.py @@ -230,11 +230,11 @@ def run_task_5(ctrl, msg, direction='left', observe=False, time_sleep=5000): else: error("未能成功到达横线前指定距离", "失败") - if res['qr_result'] == 'B-2':speak("B 区库位 2") - else:speak("B 区库位 1") + # if res['qr_result'] == 'B-2':speak("B 区库位 2") + # else:speak("B 区库位 1") section('任务5-2：移动到卸货点', "移动") - center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False) + # center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False) if direction == 'right' and res['qr_result'] == 'B-2' or direction == 'left' and res['qr_result'] == 'B-1': # 直走 move_to_hori_line(ctrl, msg, target_distance=1.9, observe=observe, detect_func_version=4)