From fbc2d5a7cd53b73b281a4d3e79e40275ef000c80 Mon Sep 17 00:00:00 2001
From: havoc420ubuntu <2993167370@qq.com>
Date: Sun, 25 May 2025 20:15:12 +0000
Subject: [PATCH] delete(task_3): remove moonwalk gait definition and
 parameters files

- Deleted Gait_Def_moonwalk.toml, Gait_Params_moonwalk.toml, Gait_Params_moonwalk_full.toml, and Usergait_List.toml as they are no longer needed for the project.
---
 task_3/Gait_Def_moonwalk.toml         | 138 ---------------
 task_3/Gait_Params_moonwalk.toml      | 215 -----------------------
 task_3/Gait_Params_moonwalk_full.toml | 241 --------------------------
 task_3/Usergait_List.toml             |  44 -----
 4 files changed, 638 deletions(-)
 delete mode 100755 task_3/Gait_Def_moonwalk.toml
 delete mode 100755 task_3/Gait_Params_moonwalk.toml
 delete mode 100644 task_3/Gait_Params_moonwalk_full.toml
 delete mode 100755 task_3/Usergait_List.toml

diff --git a/task_3/Gait_Def_moonwalk.toml b/task_3/Gait_Def_moonwalk.toml
deleted file mode 100755
index 1864f00..0000000
--- a/task_3/Gait_Def_moonwalk.toml
+++ /dev/null
@@ -1,138 +0,0 @@
-# Gait Def for moonwalk
-
-# 1
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [0, 1, 1, 0]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 0, 0, 1]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-# 2
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [0, 1, 1, 0]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 0, 0, 1]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-# 3
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [0, 1, 1, 0]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 0, 0, 1]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-# 4
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [0, 1, 1, 0]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-[[section]]
-contact  = [1, 0, 0, 1]
-duration = 6
-
-[[section]]
-contact  = [0, 0, 0, 0]
-duration = 2
-
-# 5
-[[section]]
-contact  = [1, 1, 1, 1]
-duration = 8
diff --git a/task_3/Gait_Params_moonwalk.toml b/task_3/Gait_Params_moonwalk.toml
deleted file mode 100755
index 143b265..0000000
--- a/task_3/Gait_Params_moonwalk.toml
+++ /dev/null
@@ -1,215 +0,0 @@
-# Gait Params for moonwalk
-
-# 1
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-# 2
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-# 3
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.00, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  0.00, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [-0.065, 0.00, 0.0,  0.065, -0.00, 0.0,  0.065, 0.00, 0.0,  -0.065, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-# 4
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.065, 0.00, 0.0,  -0.065, -0.00, 0.0,  -0.065, 0.00, 0.0,  0.065, 0.00, 0.0]
-step_height     = [0.05, 0.01, 0.01, 0.05]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [0.00, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  0.00, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 300
-
-[[step]]
-type            = "usergait"
-body_vel_des    = [0.0, 0.0, 0.0]
-body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-landing_pos_des = [-0.00, 0.00, 0.0,  0.00, -0.00, 0.0,  0.00, 0.00, 0.0,  -0.00, 0.00, 0.0]
-step_height     = [0.01, 0.05, 0.05, 0.01]
-weight          = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
-use_mpc_traj    = 0
-mu              = 0.40
-landing_gain    = 1.0 
-gait_id         = 110
-duration        = 240
-
-# End of moonwalk #
diff --git a/task_3/Gait_Params_moonwalk_full.toml b/task_3/Gait_Params_moonwalk_full.toml
deleted file mode 100644
index 8da222e..0000000
--- a/task_3/Gait_Params_moonwalk_full.toml
+++ /dev/null
@@ -1,241 +0,0 @@
-# Gait Params
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.0, 0.0, 0.4,]
-foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ -0.065, 0.0, 0.4,]
-foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.0, 0.0, 0.4,]
-foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ -0.065, 0.0, 0.4,]
-foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.0, 0.0, 0.4,]
-foot_pose = [ 0.0, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ -0.065, 0.0, 0.4,]
-foot_pose = [ -0.065, 0.0, 0.065, 0.0, 0.065, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.065, 0.0, 0.4,]
-foot_pose = [ 0.065, 0.0, -0.065, 0.0, -0.065, 0.0,]
-step_height = [ 10050.0, 50010.0,]
-value = 0
-duration = 240
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.0, 0.0, 0.4,]
-foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 300
-
-[[step]]
-mode = 11
-gait_id = 110
-contact = 10
-life_count = 0
-vel_des = [ 0.0, 0.0, 0.0,]
-rpy_des = [ 0.0, 0.0, 0.0,]
-pos_des = [ 0.0, 0.0, 0.0,]
-acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,]
-ctrl_point = [ 0.0, 0.0, 0.4,]
-foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
-step_height = [ 50010.0, 10050.0,]
-value = 0
-duration = 240
-
diff --git a/task_3/Usergait_List.toml b/task_3/Usergait_List.toml
deleted file mode 100755
index ad7f790..0000000
--- a/task_3/Usergait_List.toml
+++ /dev/null
@@ -1,44 +0,0 @@
-[[step]]
-acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-contact = 0 
-ctrl_point = [0.0, 0.0, 0.0] 
-duration = 0 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
-foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-gait_id = 0 
-life_count = 0 #Fake value
-mode = 12 
-pos_des = [0.0, 0.0, 0.0] 
-rpy_des = [0.0, 0.0, 0.0] 
-step_height = [0.0, 0.0] 
-value = 0 
-vel_des = [0.0, 0.0, 0.0] 
-
-[[step]]
-acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-contact = 15 
-ctrl_point = [0.0, 0.0, 0.0] 
-duration = 0 
-foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-gait_id = 110 
-life_count = 0 
-mode = 62 # User define gait
-pos_des = [0.0, 0.0, 0.0] 
-rpy_des = [0.0, 0.0, 0.0] 
-step_height = [0.0, 0.0] 
-value = 0 
-vel_des = [0.0, 0.0, 0.0] # velocity of x y yaw       
-
-# [[step]]
-# acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-# contact = 0 
-# ctrl_point = [0.0, 0.0, 0.0] 
-# duration = 1000 
-# foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
-# gait_id = 1 #采用受控趴下 
-# life_count = 0 
-# mode = 7 #Puredamper
-# pos_des = [0.0, 0.0, 0.0] 
-# rpy_des = [0.0, 0.0, 0.0] 
-# step_height = [0.0, 0.0] 
-# value = 0 
-# vel_des = [0.0, 0.0, 0.0]