# 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 = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1] body_vel_des = [0.1, 0.0, 0.0] type = "usergait" duration = 360 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.0, 0.00, 0.0, 0.15, 0.00, 0.20, 0.00, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.40 step_height = [0.00, 0.25, 0.00, 0.00] use_mpc_traj = 0 weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1] body_vel_des = [0.1, 0.0, 0.0] type = "usergait" duration = 360 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.15, 0.00, 0.20, 0.0, 0.00, 0.0, 0.00, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.40 step_height = [0.25, 0.0, 0.00, 0.00] use_mpc_traj = 0 weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1] body_vel_des = [0.1, 0.0, 0.0] type = "usergait" duration = 360 gait_id = 110 landing_gain = 0.1 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, 0.00, 0.0, 0.00, 0.00, 0.0, 0.1, 0.0, 0.0, ] mu = 0.40 step_height = [0.0, 0.0, 0.00, 0.25] use_mpc_traj = 0 weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0] [[step]] body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1] body_vel_des = [0.1, 0.0, 0.0] type = "usergait" duration = 360 gait_id = 110 landing_gain = 1.0 landing_pos_des = [ 0.00, 0.00, 0.0, 0.00, 0.00, 0.0, 0.1, 0.00, 0.0, 0.00, 0.00, 0.0, ] mu = 0.40 step_height = [0.0, 0.0, 0.25, 0.00] use_mpc_traj = 0 weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0]