# Gait Params for moonwalk
#步态参数 每个step代表一个参数块
# 1
[[step]]
type = "usergait"
body_vel_des = [0.15, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

landing_pos_des = [
    0.00,
    0.00,
    0.0,
    0.00,
    0.00,
    0.00,
    0.00,
    0.00,
    0.0,
    0.00,
    0.00,
    0.0,
]
step_height = [0.00, 0.00, 0.20, 0.00]
weight = [10.0, 10.0, 10.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300

[[step]]
type = "usergait"
body_vel_des = [0.15, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

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,
]
step_height = [0.20, 0.00, 0.00, 0.00]
weight = [30.0, 30.0, 30.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300

[[step]]
type = "usergait"
body_vel_des = [0.15, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

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,
]
step_height = [0.0, 0.00, 0.00, 0.00]
weight = [30.0, 30.0, 30.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300

[[step]]
type = "usergait"
body_vel_des = [0.15, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

landing_pos_des = [
    0.00,
    0.00,
    0.00,
    0.00,
    0.00,
    0.0,
    0.00,
    0.00,
    0.0,
    0.00,
    0.00,
    0.0,
]
step_height = [0.00, 0.00, 0.00, 0.20]
weight = [30.0, 30.0, 30.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300

[[step]]
type = "usergait"
body_vel_des = [0.15, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

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,
]
step_height = [0.00, 0.20, 0.00, 0.00]
weight = [30.0, 30.0, 30.0, 50.0, 50.0, 10.0]
use_mpc_traj = 0
mu = 0.40
landing_gain = 1.0
gait_id = 110
duration = 300