# 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, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]
# 1

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03] #roll、pitch、yaw、x、y、z
body_vel_des = [0.10, 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 = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.05, 0.0, 0.0]
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.05, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.05, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]

[[step]]
body_pos_des = [0.0, 0.15, 0.0, 0.0, 0.0, 0.03]
body_vel_des = [0.10, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  -0.03,
  0.07,
  0.00,
  0.03,
  0.07,
  0.00,
  0.03,
]
mu = 0.3
step_height = [0.0, 0.0, 0.0, 0.05]
type = "usergait"
use_mpc_traj = 0
weight = [20.0, 20.0, 30.0, 10.0, 10.0, 10.0]