{
  "msg": "quadruped forward gait",
  "req_code": "CASE_QP_002",
  "req_from": "wasm_test",
  "req_cmd": "Cmd_QuadrupedRobot_PerformForwardKinematics",
  "req_param": {
    "GaitInfo": {
      "GaitType": "trot",
      "Period": 0.8,
      "Frequency": 50.0,
      "StepTime": 0.02,
      "SupportTime": 0.4,
      "SwingTime": 0.4,
      "SupportRatio": 0.5,
      "SwingRatio": 0.5,
      "TotalFrames": 40,
      "TotalTime": 0.8
    },
    "SystemParameters": {
      "A_x": 0.0,
      "A_y": 500.0,
      "L10": 300.0,
      "L20": 286.0,
      "L30": 55.0,
      "StepLength": 60.0,
      "StepHeight": 50.0,
      "X": 30.0,
      "DeltaX": 0.0,
      "L21": 70.0,
      "L22": 292.0,
      "L23": 80.0,
      "Beta1": 166.0,
      "BB2_BC_Angle": 3.3859387489,
      "C1_B_Length": 107.0,
      "CC1": 179.0,
      "L31": 32.0,
      "C2C3_Length": 32.0,
      "Lead": 10.0,
      "D1_L_Offset": 90.0,
      "D2_L_Offset": 50.0,
      "C4_D2_Offset": 18.0,
      "ThighMotorReduction": 1.0,
      "ShankMotorReduction": 1.0,
      "AnkleMotorReduction": 1.0
    }
  }
}
