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

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#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#Gait Params
#1
# 右前脚前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.10, 0.0, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 左后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.10, 0.0, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
#左前腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.0, 0.10]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
# 右后腿前伸
[[step]]
type = "usergait"
body_vel_des = [0.12, 0.0, 0.0]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
landing_pos_des = [0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1, 0.03, 0.0, 0.1]
step_height = [0.0, 0.0, 0.10, 0.0]
weight = [20.0, 20.0, 20.0, 20.0, 20.0, 20.0]
use_mpc_traj = 1
mu = 0.2
landing_gain = 1.75
gait_id = 110
duration = 300
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