140 lines
3.4 KiB
TOML
140 lines
3.4 KiB
TOML
[[step]]
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mode = 12
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gait_id = 0
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contact = 0
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life_count = 0 #Fake value
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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 # Expected execution time of Position interpolation control, For recovery stand need > 5.0S
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[[step]]
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mode = 21 #Position interpolation control
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gait_id = 5
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contact = 15 # 0b00001111 :15 Four legs 14:Up front right leg 13:Up front left leg 11:Up back right leg 7:Up back left leg
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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, 0.15,] # x y z， z:Absolute centroid height
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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 = 300
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[[step]]
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mode = 21
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gait_id = 5
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contact = 15
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life_count = 0
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value = 0
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duration = 400
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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, 0.25,]
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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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[[step]]
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mode = 21
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gait_id = 0
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contact = 15
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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, -0.25, 0.0,] # roll pich yaw
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pos_des = [ 0.05, 0.05, -0.0,] # x y z, Right-handed coordinate system， +X:front +Y:Left +Z:Up
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acc_des = [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,]
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ctrl_point = [ 0.1, 0.0, 0.0,] # x,y,z : Rotation point coordinates for roll pitch and yaw
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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 = 500
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[[step]]
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mode = 21
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gait_id = 0
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contact = 11 # 0b00001111 :15 Four legs 14:Up front right leg 13:Up front left leg 11:Up back right leg 7:Up back left leg
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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 = [ -0.1, -0.1, 0.15, 0.0, 0.0, 0.0,] #x,y,z: Move distance of lifting foot along coordinate axis
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step_height = [ 0.0, 0.0,]
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value = 0
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duration = 500
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[[step]]
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mode = 21
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gait_id = 0
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contact = 11
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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 = 500
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[[step]]
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mode = 21
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gait_id = 5
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contact = 15
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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, 0.23,]
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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 = 500
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[[step]]
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mode = 11 #locomotion
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gait_id = 3
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contact = 15
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life_count = 0
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vel_des = [ 0.0, 0.0, 0.5,] # velocity of x y yaw
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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 = [ 0.06, 0.06,]
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value = 0
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duration = 3000
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[[step]]
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mode = 7 #Puredamper
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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 = 4000
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