content: 
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [400.0]
  
  [[step]]
  type         = "pose"
  foot_support = [1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.0, 0.35, 0.0, -0.05, -0.0, 0.0]
  foot_cmd     = [0.0, 0.0, 0.0]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [250.0]
  
  [[step]]
  type         = "pose"
  foot_support = [-1.0, 1.0, 1.0, 1.0]
  body_cmd     = [0.1, 0.0, 0.0, -0.05, 0.06, 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     = [0.0, 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     = [250.0]
  
  [[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     = [0.36, 0.0, 0.32]
  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, -0.1]
  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, 0.1]
  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, -0.1]
  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, 0.1]
  ctrl_point   = [0.0, 0.0, 0.0]
  duration     = [400.0]
  
  [[step]]
  type         = "swingleg"
  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     = [3500.0]
  
  [[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     = [-0.36, -0.05, -0.32]
  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     = [0.0, 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     = [300.0]
  
  [[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     = [200.0]
  
  [[step]]
  type     = "transition"
  height   = [0.3]
  duration = [800.0]
  