content: ###
  ## order configuration
  #
  ###
  ## order step examples
  #
  # type     = "locomotion"
  # vel      = [0.0, 0.0, 0.0]
  # omni     = [0.0]
  # gait     = [0.0]
  # duration = [0.0]
  # 
  # type          = "pose"
  # foot_support = [0.0, 0.0, 0.0, 0.0]
  # body_cmd      = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  # foot_cmd      = [0.0, 0.0, 0.0]
  # ctrl_point    = [0.0, 0.0, 0.0]
  # duration      = [0.0]
  # 
  # type         = "jump"
  # contact_state = [0.0, 0.0, 0.0, 0.0]
  # x_acc_cmd    = [0.0, 0.0, 0.0]
  # w_acc_cmd    = [0.0, 0.0, 0.0]
  # duration     = [0.0]
  # 
  # type     = "transition"
  # height   = [0.0]
  # duration = [0.0]
  #
  # type          = "swingleg"
  # foot_support = [0.0, 0.0, 0.0, 0.0]
  # body_cmd      = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  # foot_cmd      = [0.0, 0.0, 0.0]
  # ctrl_point    = [0.0, 0.0, 0.0]
  # duration      = [0.0]
  #
  # type          = "torctrlposture"
  # contact_state = [0.0, 0.0, 0.0, 0.0]
  # body_cmd      = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  # foot_cmd      = [0.0, 0.0, 0.0]
  # duration      = [0.0]
  #
  locomotion = ["vel", "omni", "gait", "duration"]
  #
  pose = ["foot_support", "body_cmd", "foot_cmd", "ctrl_point", "duration"]
  swingleg = ["foot_support", "body_cmd", "foot_cmd", "ctrl_point", "duration"]
  #
  jump = ["contact_state", "x_acc_cmd", "w_acc_cmd", "duration"]
  #
  torctrlposture = ["foot_support", "body_cmd", "foot_cmd", "duration"]
  #
  transition = ["height", "duration"]
  #
  #
  body_cmd = 6
  contact_state = 4
  ctrl_point = 3
  duration = 1
  foot_cmd = 3
  foot_support = 4
  gait = 1
  height = 1
  omni = 1
  vel = 3
  w_acc_cmd = 3
  x_acc_cmd = 3