29 lines
696 B
TOML
29 lines
696 B
TOML
[[step]]
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mode = 12 # 恢复站立
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gait_id = 0
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contact = 0
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life_count = 0
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vel_des = [0.0, 0.0, 0.0]
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rpy_des = [0.0, 0.0, 0.0]
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pos_des = [0.0, 0.0, 0.0]
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acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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ctrl_point = [0.0, 0.0, 0.0]
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foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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step_height = [0.0, 0.0]
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value = 0
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duration = 5000 # 建议 ≥5s
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[[step]]
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mode = 62 # 用户自定义步态模式
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gait_id = 110 # 定义的大步长上坡动作
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contact = 0
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life_count = 0
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vel_des = [0.0, 0.0, 0.0]
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rpy_des = [0.0, 0.0, 0.0]
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pos_des = [0.0, 0.0, 0.0]
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acc_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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ctrl_point = [0.0, 0.0, 0.0]
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foot_pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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step_height = [0.0, 0.0]
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value = 0
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duration = 0 |