# Gait Params for Low Height Walking

# 1 - Initial position with low body height
[[step]]
type            = "usergait"
body_vel_des    = [0.0, 0.0, 0.0]
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # Z值为-0.1，降低体高
landing_pos_des = [0.2, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.2, 0.15, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.0]  # 初始姿态不抬腿
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        = 500  # 给足够时间降低体高

# 2 - Moving forward (left front and right back legs)
[[step]]
type            = "usergait"
body_vel_des    = [0.05, 0.0, 0.0]  # 低速前进
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # 保持低体高
landing_pos_des = [0.25, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.25, 0.15, 0.0]
step_height     = [0.03, 0.01, 0.01, 0.03]  # 减小抬腿高度
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

# 3 - Moving forward (right front and left back legs)
[[step]]
type            = "usergait"
body_vel_des    = [0.05, 0.0, 0.0]  # 继续低速前进
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # 保持低体高
landing_pos_des = [0.2, 0.15, 0.0, 0.25, -0.15, 0.0, -0.25, -0.15, 0.0, -0.2, 0.15, 0.0]
step_height     = [0.01, 0.03, 0.03, 0.01]  # 减小抬腿高度
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

# 4 - Moving forward (left front and right back legs)
[[step]]
type            = "usergait"
body_vel_des    = [0.05, 0.0, 0.0]  # 低速前进
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # 保持低体高
landing_pos_des = [0.25, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.25, 0.15, 0.0]
step_height     = [0.03, 0.01, 0.01, 0.03]  # 减小抬腿高度
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

# 5 - Moving forward (right front and left back legs)
[[step]]
type            = "usergait"
body_vel_des    = [0.05, 0.0, 0.0]  # 继续低速前进
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # 保持低体高
landing_pos_des = [0.2, 0.15, 0.0, 0.25, -0.15, 0.0, -0.25, -0.15, 0.0, -0.2, 0.15, 0.0]
step_height     = [0.01, 0.03, 0.03, 0.01]  # 减小抬腿高度
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

# 6 - Stop and maintain low position
[[step]]
type            = "usergait"
body_vel_des    = [0.0, 0.0, 0.0]  # 停止
body_pos_des    = [0.0, 0.0, 0.0, 0.0, 0.0, -0.1]  # 保持低体高
landing_pos_des = [0.2, 0.15, 0.0, 0.2, -0.15, 0.0, -0.2, -0.15, 0.0, -0.2, 0.15, 0.0]
step_height     = [0.0, 0.0, 0.0, 0.0]  # 不抬腿
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        = 500

# End of low height gait #