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mi-task/basic_motion/Gait_Def_limit.toml
Mor1Ori 002a37b45b first commit
2025-08-21 15:29:20 +08:00

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# Gait Def
#1
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
[[section]]
contact = [0, 1, 1, 1] # FR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 0] # RL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # FL落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 0, 1, 1] # FL摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # RR落下，恢复四只腿支撑
duration = 5
[[section]]
contact = [1, 1, 0, 1] # RR摆动，其他三只腿支撑
duration = 5
[[section]]
contact = [1, 1, 1, 1] # 全部支撑，准备阶段
duration = 5
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