content: 
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [1.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [2.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [3.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [4.0]
  duration = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, -0.5]
  omni     = [0.0]
  gait     = [4.0]
  duration = [2000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.5]
  omni     = [0.0]
  gait     = [4.0]
  duration = [2000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [4.0]
  duration = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [5.0]
  duration = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.5]
  omni     = [0.0]
  gait     = [5.0]
  duration = [2000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, -0.5]
  omni     = [0.0]
  gait     = [5.0]
  duration = [2000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [5.0]
  duration = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [6.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [7.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [9.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [10.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "locomotion"
  vel      = [0.0, 0.0, 0.0]
  omni     = [0.0]
  gait     = [11.0]
  duration = [3000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.18]
  duration = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.06, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.12, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.06, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.05, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, -0.1, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.05, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.3, 0.3, 0.0, 0.0, -0.05]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.6, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.6, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.6, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.6, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.3, -0.3, 0.0, 0.0, 0.05]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [1000.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.3, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.6, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.6, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.3, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.35, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.7, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.7, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.35, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [800.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [-0.3, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.6, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [-0.6, 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     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.3, 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     = [500.0]
  
  [[step]]
  type     = "transition"
  height   = [0.25]
  duration = [400.0]
  
  [[step]]
  type     = "transition"
  height   = [0.25]
  duration = [400.0]
  
  [[step]]
  type          = "jump"
  contact_state = [1.0, 1.0, 1.0, 1.0]
  x_acc_cmd     = [2.0, 0.0, 5.0]
  w_acc_cmd     = [0.0, 0.0, 0.0]
  duration      = [1000.0]
  
  [[step]]
  type          = "jump"
  contact_state = [1.0, 1.0, 1.0, 1.0]
  x_acc_cmd     = [-2.0, 0.0, 5.0]
  w_acc_cmd     = [0.0, 0.0, 0.0]
  duration      = [1000.0]
  
  [[step]]
  type          = "jump"
  contact_state = [1.0, 1.0, 1.0, 1.0]
  x_acc_cmd     = [0.0, 0.0, 5.0]
  w_acc_cmd     = [0.0, 0.0, 3.0]
  duration      = [1000.0]
  
  [[step]]
  type          = "jump"
  contact_state = [1.0, 1.0, 1.0, 1.0]
  x_acc_cmd     = [0.0, 0.0, 5.0]
  w_acc_cmd     = [0.0, 0.0, -3.0]
  duration      = [1000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.25]
  duration = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.2, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [250.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.04, -0.004, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.038, -0.012, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.035, -0.019, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.031, -0.026, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.025, -0.031, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.018, -0.036, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.011, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.003, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.005, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.013, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.02, -0.034, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.027, -0.03, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.032, -0.024, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.036, -0.017, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, -0.01, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.04, -0.002, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, 0.006, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.037, 0.014, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.034, 0.021, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.029, 0.027, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.023, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.016, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.008, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.007, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.015, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.022, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.028, 0.028, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.033, 0.022, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.037, 0.015, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, 0.007, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.017, 0.001, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [108.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [108.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.04, -0.004, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.038, -0.012, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.035, -0.019, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.031, -0.026, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.025, -0.031, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.018, -0.036, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.011, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.003, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.005, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.013, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.02, -0.034, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.027, -0.03, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.032, -0.024, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.036, -0.017, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, -0.01, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.04, -0.002, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, 0.006, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.037, 0.014, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.034, 0.021, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.029, 0.027, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.023, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.016, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.008, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.007, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.015, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.022, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.028, 0.028, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.033, 0.022, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.037, 0.015, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, 0.007, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.016, 0.001, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.2, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [-0.15, 0.0, 0.0]
  duration     = [250.0]
  
  [[step]]
  type     = "transition"
  height   = [0.25]
  duration = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.2, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [250.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.04, -0.004, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.038, -0.012, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.035, -0.019, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.031, -0.026, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.025, -0.031, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.018, -0.036, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.011, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.003, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.005, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.013, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.02, -0.034, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.027, -0.03, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.032, -0.024, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.036, -0.017, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, -0.01, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.04, -0.002, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, 0.006, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.037, 0.014, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.034, 0.021, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.029, 0.027, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.023, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.016, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.008, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.007, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.015, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.022, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.028, 0.028, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.033, 0.022, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.037, 0.015, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, 0.007, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.017, 0.001, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [108.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [108.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.04, -0.004, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.038, -0.012, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.035, -0.019, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.031, -0.026, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.025, -0.031, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.018, -0.036, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.011, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.003, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.005, -0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.013, -0.038, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.02, -0.034, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.027, -0.03, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.032, -0.024, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.036, -0.017, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, -0.01, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.04, -0.002, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.039, 0.006, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.037, 0.014, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.034, 0.021, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.029, 0.027, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.023, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.016, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.008, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.04, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.007, 0.039, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.015, 0.037, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.022, 0.033, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.028, 0.028, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.033, 0.022, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.037, 0.015, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.039, 0.007, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.016, 0.001, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [40.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, -0.2, 0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.15, 0.0, 0.0]
  duration     = [250.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.3, 0.0, -0.06, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [600.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.3, 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     = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [-0.6, 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     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.3, 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     = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, 0.0, -0.08, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [400.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.02]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.3, 0.0, 0.26]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  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     = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, -0.05]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.06]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, -0.06]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.06]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  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     = [100.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [-0.3, 0.0, -0.24]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [200.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, -1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.0, 0.0, -0.0, 0.0, 0.0]
  foot_cmd     = [0.0, 0.0, -0.04]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [500.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, -0.3, 0.0, 0.06, 0.08, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [500.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [2000.0]
  