# Gait Params

# 1
# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300











# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300

# 右前脚前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.03, 0.0, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 左后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.03]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


#左前腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.03, 0.0, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300


# 右后腿前伸
[[step]]
type            = "usergait"
body_vel_des    = [0.12, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.08]
landing_pos_des = [0.03, 0.0, 0.0,  0.03, -0.0, 0.0,  0.03, 0.0, 0.0,  0.03, 0.0, 0.0]
step_height     = [0.0, 0.0, 0.03, 0.0]
weight          = [10.0, 10.0, 10.0, 10.0, 10.0, 100.0]
use_mpc_traj    = 0
mu              = 0.5
landing_gain    = 1.0
gait_id         = 110
duration        = 300