[[step]]
mode = 12  # 恢复站立
gait_id = 0
contact = 0
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 = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
ctrl_point = [0.0, 0.0, 0.0]
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
step_height = [0.0, 0.0]
value = 0
duration = 5000  # 建议 ≥5s


[[step]]
mode = 62  # 用户自定义步态模式
gait_id = 110  # 定义的大步长上坡动作
contact = 0
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 = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
ctrl_point = [0.0, 0.0, 0.0]
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
step_height = [0.0, 0.0]
value = 0
duration = 0