# Gait Params [[step]] mode = 11 gait_id = 110 contact = 10 life_count = 0 vel_des = [ 0.1, 0.0, 0.0,] rpy_des = [ 0.0, 0.0, 0.0,] pos_des = [ 0.0, 0.0, 0.1,] acc_des = [ 10.0, 10.0, 10.0, 50.0, 50.0, 10.0,] ctrl_point = [ 0.0, 0.0, 0.4,] foot_pose = [ 0.0, 0.0, 0.07, 0.0, 0.0, 0.0,] step_height = [ 100000.0, 0.0,] value = 1 duration = 300 [[step]] mode = 11 gait_id = 110 contact = 10 life_count = 0 vel_des = [ 0.1, 0.0, 0.0,] rpy_des = [ 0.0, 0.0, 0.0,] pos_des = [ 0.0, 0.0, 0.1,] acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,] ctrl_point = [ 0.0, 0.0, 0.4,] foot_pose = [ 0.07, 0.0, 0.0, 0.0, 0.0, 0.0,] step_height = [ 100.0, 0.0,] value = 1 duration = 300 [[step]] mode = 11 gait_id = 110 contact = 10 life_count = 0 vel_des = [ 0.1, 0.0, 0.0,] rpy_des = [ 0.0, 0.0, 0.0,] pos_des = [ 0.0, 0.0, 0.1,] acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,] ctrl_point = [ 0.07, 0.0, 0.4,] foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,] step_height = [ 0.0, 100000.0,] value = 1 duration = 300 [[step]] mode = 11 gait_id = 110 contact = 10 life_count = 0 vel_des = [ 0.1, 0.0, 0.0,] rpy_des = [ 0.0, 0.0, 0.0,] pos_des = [ 0.0, 0.0, 0.1,] acc_des = [ 30.0, 30.0, 30.0, 50.0, 50.0, 10.0,] ctrl_point = [ 0.0, 0.0, 0.4,] foot_pose = [ 0.0, 0.0, 0.0, 0.0, 0.07, 0.0,] step_height = [ 0.0, 100.0,] value = 1 duration = 300