content: 
  [[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, 0.5, 0.0, -0.02, -0.0, -0.05]
  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, 0.0]
  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     = [0.3, 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     = [150.0]
  
  [[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     = [300.0]
  
  [[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     = [150.0]
  
  [[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     = [2000.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [300.0]
  