symmetry: false
kp: 175
kd: 1.4
keyframes:
  - delta: 0.00
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 68.000
      Left_Shoulder_Roll: -76.000
      Left_Elbow_Pitch: -62.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 52.000
      Right_Elbow_Pitch: -72.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -26.000
      Left_Hip_Roll: 8.000
      Left_Hip_Yaw: 0.000
      Left_Knee_Pitch: 62.000
      Left_Ankle_Pitch: 12.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -10.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -5.000

  - delta: 0.23
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 70.000
      Left_Shoulder_Roll: -80.000
      Left_Elbow_Pitch: -70.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 50.000
      Right_Elbow_Pitch: -72.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -40.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 2.500
      Left_Knee_Pitch: 64.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 4.500
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: -3.000
      Right_Knee_Pitch: -10.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -6.000

  - delta: 0.26
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 72.000
      Left_Shoulder_Roll: -82.000
      Left_Elbow_Pitch: -74.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 48.000
      Right_Elbow_Pitch: -68.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -56.000
      Left_Hip_Roll: 12.000
      Left_Hip_Yaw: 5.000
      Left_Knee_Pitch: 34.000
      Left_Ankle_Pitch: 6.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: -6.000
      Right_Knee_Pitch: -8.000
      Right_Ankle_Pitch: 5.000
      Right_Ankle_Roll: -7.000

  - delta: 0.10
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 74.000
      Left_Shoulder_Roll: -86.000
      Left_Elbow_Pitch: -76.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 44.000
      Right_Elbow_Pitch: -64.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -66.000
      Left_Hip_Roll: 13.000
      Left_Hip_Yaw: 5.500
      Left_Knee_Pitch: -12.000
      Left_Ankle_Pitch: 4.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 12.000
      Right_Hip_Roll: -9.000
      Right_Hip_Yaw: -2.500
      Right_Knee_Pitch: -6.000
      Right_Ankle_Pitch: 4.000
      Right_Ankle_Roll: -6.000
    kp: 210

  - delta: 0.23
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 72.000
      Left_Shoulder_Roll: -82.000
      Left_Elbow_Pitch: -72.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 46.000
      Right_Elbow_Pitch: -66.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -24.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 3.000
      Left_Knee_Pitch: 46.000
      Left_Ankle_Pitch: 12.500
      Left_Ankle_Roll: 4.500
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -10.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -4.000

  - delta: 0.23
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 70.000
      Left_Shoulder_Roll: -80.000
      Left_Elbow_Pitch: -68.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 72.000
      Right_Shoulder_Roll: 48.000
      Right_Elbow_Pitch: -68.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -18.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 1.000
      Left_Knee_Pitch: 38.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 12.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -6.000
      Right_Ankle_Pitch: 4.000
      Right_Ankle_Roll: -4.000

  - delta: 0.34
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 64.000
      Left_Shoulder_Roll: -72.000
      Left_Elbow_Pitch: -58.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 68.000
      Right_Shoulder_Roll: 45.000
      Right_Elbow_Pitch: -64.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: 0.000
      Left_Hip_Roll: 0.000
      Left_Hip_Yaw: 0.000
      Left_Knee_Pitch: 0.000
      Left_Ankle_Pitch: 0.000
      Left_Ankle_Roll: 0.000
      Right_Hip_Pitch: 0.000
      Right_Hip_Roll: 0.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: 0.000
      Right_Ankle_Pitch: 0.000
      Right_Ankle_Roll: 0.000
    kp: 120