[[step]]
acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
contact = 0 
ctrl_point = [0.0, 0.0, 0.0] 
duration = 0 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
gait_id = 0 
life_count = 0 #Fake value
mode = 12 
pos_des = [0.0, 0.0, 0.0] 
rpy_des = [0.0, 0.0, 0.0] 
step_height = [0.0, 0.0] 
value = 0 
vel_des = [0.0, 0.0, 0.0] 

[[step]]

acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
contact = 15 
ctrl_point = [0.0, 0.0, 0.0] 
duration = 15000 
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
gait_id = 110 
life_count = 0 
mode = 62 # User define gait
pos_des = [0.0, 0.0, 0.0] 
rpy_des = [0.0, 0.0, 0.0] 
step_height = [0.0, 0.0] 
value = 0 
vel_des = [0.0, 0.0, 0.0] # velocity of x y yaw     

[[step]]
acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
contact = 0 
ctrl_point = [0.0, 0.0, 0.0] 
duration = 1000 
foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] 
gait_id = 1 #采用受控趴下 
life_count = 0 
mode = 7 #Puredamper
pos_des = [0.0, 0.0, 0.0] 
rpy_des = [0.0, 0.0, 0.0] 
step_height = [0.0, 0.0] 
value = 0 
vel_des = [0.0, 0.0, 0.0]