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

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# Gait Params
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30000.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 30000.0, 0.0,]
value = 0
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 10
life_count = 0
vel_des = [ 0.12, 0.0, 0.0,]
rpy_des = [ 0.0, 0.0, 0.0,]
pos_des = [ 0.0, 0.0, -0.08,]
acc_des = [ 10.0, 10.0, 10.0, 10.0, 10.0, 100.0,]
ctrl_point = [ 0.03, 0.0, 0.5,]
foot_pose = [ 0.03, 0.0, 0.03, 0.0, 0.03, 0.0,]
step_height = [ 0.0, 30.0,]
value = 0
duration = 300
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