symmetry: false
kp: 150
kd: 1.2
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: -16.000
      Left_Hip_Roll: 8.000
      Left_Hip_Yaw: 0.000
      Left_Knee_Pitch: 36.000
      Left_Ankle_Pitch: 12.000
      Left_Ankle_Roll: 4.000
      Right_Hip_Pitch: 24.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -36.000
      Right_Ankle_Pitch: 9.000
      Right_Ankle_Roll: -5.000

  - delta: 0.17
    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: -28.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 1.500
      Left_Knee_Pitch: 24.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 4.500
      Right_Hip_Pitch: 26.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: -2.000
      Right_Knee_Pitch: -38.000
      Right_Ankle_Pitch: 10.000
      Right_Ankle_Roll: -6.000

  - delta: 0.18
    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: -44.000
      Left_Hip_Roll: 12.000
      Left_Hip_Yaw: 3.000
      Left_Knee_Pitch: 6.000
      Left_Ankle_Pitch: 5.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 24.000
      Right_Hip_Roll: -10.000
      Right_Hip_Yaw: -4.000
      Right_Knee_Pitch: -36.000
      Right_Ankle_Pitch: 8.000
      Right_Ankle_Roll: -7.000

  - delta: 0.12
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 74.000
      Left_Shoulder_Roll: -84.000
      Left_Elbow_Pitch: -76.000
      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: -52.000
      Left_Hip_Roll: 13.000
      Left_Hip_Yaw: 3.500
      Left_Knee_Pitch: -2.000
      Left_Ankle_Pitch: 2.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 24.000
      Right_Hip_Roll: -9.000
      Right_Hip_Yaw: -1.000
      Right_Knee_Pitch: -30.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -5.000

  - delta: 0.12
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 76.000
      Left_Shoulder_Roll: -86.000
      Left_Elbow_Pitch: -78.000
      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: -58.000
      Left_Hip_Roll: 14.000
      Left_Hip_Yaw: 4.000
      Left_Knee_Pitch: -6.000
      Left_Ankle_Pitch: 0.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 22.000
      Right_Hip_Roll: -9.000
      Right_Hip_Yaw: -1.000
      Right_Knee_Pitch: -26.000
      Right_Ankle_Pitch: 4.000
      Right_Ankle_Roll: -6.000
    kp: 180

  - delta: 0.18
    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: -20.000
      Left_Hip_Roll: 10.500
      Left_Hip_Yaw: 2.000
      Left_Knee_Pitch: 20.000
      Left_Ankle_Pitch: 11.000
      Left_Ankle_Roll: 4.500
      Right_Hip_Pitch: 24.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -34.000
      Right_Ankle_Pitch: 8.000
      Right_Ankle_Roll: -4.000

  - delta: 0.18
    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: -16.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 1.000
      Left_Knee_Pitch: 14.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 24.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -34.000
      Right_Ankle_Pitch: 8.000
      Right_Ankle_Roll: -4.000

  - delta: 0.26
    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: 20.000
      Right_Hip_Roll: -6.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -26.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: 0.000
    kp: 120