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mi-task/task_4/Gait_Params_stoop_full.toml
hav 3f6f558473 Update 820
2025-08-20 22:17:26 +08:00

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# Gait Params
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 0.0, 100000.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos_des = [ 0.0, 0.0, 0.005,]
acc_des = [ 20.0, 25.0, 30.0, 10.0, 10.0, 50.0,]
ctrl_point = [ 0.02, 0.0, 0.2,]
foot_pose = [ 0.02, 0.0, 0.02, 0.0, 0.02, 0.0,]
step_height = [ 100000.0, 0.0,]
value = 1
duration = 300
[[step]]
mode = 11
gait_id = 110
contact = 17
life_count = 0
vel_des = [ 0.15, 0.0, 0.0,]
rpy_des = [ 0.0, 0.3, 0.0,]
pos
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