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mi-task/example/motion/Gait_Params_scopewalk.toml
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# Gait Params for moonwalk
#步态参数 每个step代表一个参数块
#FR，FL，RR，RL
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
# 1
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] #roll、pitch、yaw、x、y、z
body_vel_des = [0.2, 0.0, 0.0] #x,y,yaw
type = "usergait"
#x，y，z方向的落地位置偏置
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.15, 0.0, 0.0]
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.00,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.15, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.0,
0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.15, 0.0, 0.0, 0.0]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.2, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.0
landing_pos_des = [
0.00,
0.00,
0.0,
0.00,
-0.00,
0.0,
0.0,
0.00,
0.0,
0.00,
0.00,
0.0,
]
mu = 0.4
step_height = [0.0, 0.0, 0.0, 0.15]
type = "usergait"
use_mpc_traj = 0
weight = [10.0, 10.0, 10.0, 10.0, 10.0, 10.0]
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