112 lines
1.6 KiB
TOML
112 lines
1.6 KiB
TOML
# Gait Params for moonwalk
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#步态参数 每个step代表一个参数块
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#FR，FL，RR，RL
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# 1
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[[step]]
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body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1]
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body_vel_des = [0.1, 0.0, 0.0]
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type = "usergait"
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duration = 360
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gait_id = 110
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landing_gain = 1.0
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landing_pos_des = [
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0.0,
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0.00,
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0.0,
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0.15,
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0.00,
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0.20,
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0.00,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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]
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mu = 0.40
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step_height = [0.00, 0.25, 0.00, 0.00]
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use_mpc_traj = 0
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weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0]
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[[step]]
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body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1]
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body_vel_des = [0.1, 0.0, 0.0]
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type = "usergait"
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duration = 360
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gait_id = 110
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landing_gain = 1.0
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landing_pos_des = [
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0.15,
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0.00,
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0.20,
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0.0,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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]
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mu = 0.40
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step_height = [0.25, 0.0, 0.00, 0.00]
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use_mpc_traj = 0
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weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0]
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[[step]]
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body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1]
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body_vel_des = [0.1, 0.0, 0.0]
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type = "usergait"
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duration = 360
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gait_id = 110
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landing_gain = 0.1
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landing_pos_des = [
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0.00,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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0.1,
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0.0,
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0.0,
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]
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mu = 0.40
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step_height = [0.0, 0.0, 0.00, 0.25]
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use_mpc_traj = 0
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weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0]
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[[step]]
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body_pos_des = [0.1, 0.0, 0.0, 0.0, 0.0, 0.1]
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body_vel_des = [0.1, 0.0, 0.0]
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type = "usergait"
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duration = 360
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gait_id = 110
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landing_gain = 1.0
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landing_pos_des = [
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0.00,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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0.1,
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0.00,
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0.0,
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0.00,
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0.00,
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0.0,
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]
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mu = 0.40
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step_height = [0.0, 0.0, 0.25, 0.00]
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use_mpc_traj = 0
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weight = [10.0, 0.0, 10.0, 10.0, 10.0, 10.0]
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