# Gait Params
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50000.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 50.0, 0.0,]
value = 0
duration = 300

[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.1, 0.0, 0.0,]
rpy_des = [ 0.0, 0.15, 0.0,]
pos_des = [ 0.0, 0.0, 0.03,]
acc_des = [ 20.0, 20.0, 30.0, 10.0, 10.0, 10.0,]
ctrl_point = [ 0.07, 0.0, 0.3,]
foot_pose = [ 0.07, 0.0, 0.07, 0.0, 0.07, 0.0,]
step_height = [ 0.0, 50000.0,]
value = 0
duration = 300