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delete(task_3): remove moonwalk gait definition and parameters files

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- 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.
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havoc420ubuntu 2025-05-25 20:15:12 +00:00
parent 952524dc63
commit fbc2d5a7cd
4 changed files with 0 additions and 638 deletions
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138
task_3/Gait_Def_moonwalk.toml
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@ -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

215
task_3/Gait_Params_moonwalk.toml
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@ -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 #

241
task_3/Gait_Params_moonwalk_full.toml
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@ -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

44
task_3/Usergait_List.toml
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@ -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]