[[step]]
mode = 12
gait_id = 0
contact = 0
life_count = 0 #Fake value
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  # Expected execution time of Position interpolation control, For recovery stand need > 5.0S

[[step]]
mode = 62 # User define gait
gait_id = 110
contact = 15
life_count = 0
vel_des = [ 0.0, 0.0, 0.0,] # velocity of x y yaw
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 = 4320

[[step]]
mode = 7 #Puredamper
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 = 4000