mi-task/example/back_to_start_main/Gait_Params_walk.toml

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]
# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

# 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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[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 = [0.08, 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 = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.25, 0.01, 0.01]
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.25, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.25, 0.01, 0.01, 0.01]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]

[[step]]
body_pos_des = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
body_vel_des = [0.08, 0.0, 0.0]
duration = 300
gait_id = 110
landing_gain = 1.75
landing_pos_des = [
  0.02,
  0.00,
  0.0,
  0.02,
  -0.00,
  0.0,
  0.02,
  0.00,
  0.0,
  0.02,
  0.00,
  0.0,
]
mu = 0.2
step_height = [0.01, 0.01, 0.01, 0.25]
type = "usergait"
use_mpc_traj = 1
weight = [15.0, 25.0, 30.0, 10.0, 10.0, 50.0]