quadruped_ros2_control/descriptions/unitree/go1_description/config/ocs2/gait.info

list
{
  [0] stance
  [1] trot
  [2] standing_trot
  [3] flying_trot
  [4] pace
  [5] standing_pace
  [6] dynamic_walk
  [7] static_walk
  [8] amble
  [9] lindyhop
  [10] skipping
  [11] pawup
}

stance
 {
   modeSequence
   {
     [0]     STANCE
   }
   switchingTimes
   {
     [0]     0.0
     [1]     0.5
   }
}

trot
 {
   modeSequence
   {
     [0]     LF_RH
     [1]     RF_LH
   }
   switchingTimes
   {
     [0]     0.0
     [1]     0.3
     [2]     0.6
   }
}

standing_trot
{
  modeSequence
  {
    [0]     LF_RH
    [1]     STANCE
    [2]     RF_LH
    [3]     STANCE
  }
  switchingTimes
  {
    [0]     0.00
    [1]     0.25
    [2]     0.3
    [3]     0.55
    [4]     0.6
  }
}

flying_trot
{
  modeSequence
  {
    [0]     LF_RH
    [1]     FLY
    [2]     RF_LH
    [3]     FLY
  }
  switchingTimes
  {
    [0]     0.00
    [1]     0.15
    [2]     0.2
    [3]     0.35
    [4]     0.4
  }
}

pace
{
  modeSequence
  {
    [0]     LF_LH
    [1]     FLY
    [2]     RF_RH
    [3]     FLY
  }
  switchingTimes
  {
    [0]     0.0
    [1]     0.28
    [2]     0.30
    [3]     0.58
    [4]     0.60
  }
}

standing_pace
{
  modeSequence
  {
    [0]     LF_LH
    [1]     STANCE
    [2]     RF_RH
    [3]     STANCE
  }
  switchingTimes
  {
    [0]     0.0
    [1]     0.30
    [2]     0.35
    [3]     0.65
    [4]     0.70
  }
}

dynamic_walk
{
  modeSequence
  {
    [0]     LF_RF_RH
    [1]     RF_RH
    [2]     RF_LH_RH
    [3]     LF_RF_LH
    [4]     LF_LH
    [5]     LF_LH_RH
  }
  switchingTimes
  {
    [0]     0.0
    [1]     0.2
    [2]     0.3
    [3]     0.5
    [4]     0.7
    [5]     0.8
    [6]     1.0
  }
}

static_walk
{
  modeSequence
  {
    [0]     LF_RF_RH
    [1]     RF_LH_RH
    [2]     LF_RF_LH
    [3]     LF_LH_RH
  }
  switchingTimes
  {
    [0]     0.0
    [1]     0.3
    [2]     0.6
    [3]     0.9
    [4]     1.2
  }
}

amble
{
  modeSequence
  {
    [0]     RF_LH
    [1]     LF_LH
    [2]     LF_RH
    [3]     RF_RH
  }
  switchingTimes
  {
    [0]     0.0
    [1]     0.15
    [2]     0.40
    [3]     0.55
    [4]     0.80
  }
}

lindyhop
{
  modeSequence
  {
    [0]     LF_RH
    [1]     STANCE
    [2]     RF_LH
    [3]     STANCE
    [4]     LF_LH
    [5]     RF_RH
    [6]     LF_LH
    [7]     STANCE
    [8]     RF_RH
    [9]     LF_LH
    [10]     RF_RH
    [11]     STANCE
  }
  switchingTimes
  {
    [0]     0.00 ; Step 1
    [1]     0.35 ; Stance
    [2]     0.45 ; Step 2
    [3]     0.80 ; Stance
    [4]     0.90  ; Tripple step
    [5]     1.125 ;
    [6]     1.35  ;
    [7]     1.70  ; Stance
    [8]     1.80  ; Tripple step
    [9]     2.025 ;
    [10]    2.25  ;
    [11]    2.60  ; Stance
    [12]    2.70  ;
  }
}

skipping
{
  modeSequence
  {
    [0]     LF_RH
    [1]     FLY
    [2]     LF_RH
    [3]     FLY
    [4]     RF_LH
    [5]     FLY
    [6]     RF_LH
    [7]     FLY
  }
  switchingTimes
  {
    [0]     0.00
    [1]     0.27
    [2]     0.30
    [3]     0.57
    [4]     0.60
    [5]     0.87
    [6]     0.90
    [7]     1.17
    [8]     1.20
  }
}

pawup
{
   modeSequence
   {
     [0]     RF_LH_RH
   }
   switchingTimes
   {
     [0]     0.0
     [1]     2.0
   }
}