# Gait Params for moonwalk #步态参数 每个step代表一个参数块 #FR，FL，RR，RL # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] # 1 [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw type = "usergait" #x，y，z方向的落地位置偏置 duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.15, 0.0, 0.0] use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 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, ] mu = 0.4 step_height = [0.0, 0.0, 0.15, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.0, 0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.15, 0.0, 0.0, 0.0] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] body_vel_des = [0.2, 0.0, 0.0] duration = 300 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, -0.00, 0.0, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.4 step_height = [0.0, 0.0, 0.0, 0.15] type = "usergait" use_mpc_traj = 0 weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]