#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300

#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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.10, 0.0, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.10, 0.0, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.0, 0.10]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
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, 0.0]
landing_pos_des = [0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1,  0.03, 0.0, 0.1]
step_height     = [0.0, 0.0, 0.10, 0.0]
weight          = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj    = 1
mu              = 0.2
landing_gain    = 1.75
gait_id         = 110
duration        = 300