symmetry: false
kp: 140
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: -70.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -18.000
      Left_Hip_Roll: 8.000
      Left_Hip_Yaw: 0.000
      Left_Knee_Pitch: 42.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -9.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -10.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -5.000

  - delta: 0.16
    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: -70.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -30.000
      Left_Hip_Roll: 10.000
      Left_Hip_Yaw: 1.000
      Left_Knee_Pitch: 54.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 4.500
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -9.000
      Right_Hip_Yaw: -1.000
      Right_Knee_Pitch: -10.000
      Right_Ankle_Pitch: 6.000
      Right_Ankle_Roll: -5.500

  - delta: 0.17
    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: -46.000
      Left_Hip_Roll: 12.000
      Left_Hip_Yaw: 2.000
      Left_Knee_Pitch: 28.000
      Left_Ankle_Pitch: 10.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 14.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: -2.000
      Right_Knee_Pitch: -8.000
      Right_Ankle_Pitch: 5.000
      Right_Ankle_Roll: -7.000

  - delta: 0.16
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 73.500
      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: -58.000
      Left_Hip_Roll: 13.000
      Left_Hip_Yaw: 3.000
      Left_Knee_Pitch: -16.000
      Left_Ankle_Pitch: 8.000
      Left_Ankle_Roll: 5.000
      Right_Hip_Pitch: 12.000
      Right_Hip_Roll: -8.000
      Right_Hip_Yaw: -1.000
      Right_Knee_Pitch: -6.000
      Right_Ankle_Pitch: 4.000
      Right_Ankle_Roll: -5.000

  - delta: 0.16
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 75.000
      Left_Shoulder_Roll: -86.000
      Left_Elbow_Pitch: -72.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 70.000
      Right_Shoulder_Roll: 44.000
      Right_Elbow_Pitch: -64.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -62.000
      Left_Hip_Roll: 13.000
      Left_Hip_Yaw: 3.000
      Left_Knee_Pitch: 10.000
      Left_Ankle_Pitch: 6.000
      Left_Ankle_Roll: 5.000
      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: -5.000
    kp: 170

  - delta: 0.18
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 73.500
      Left_Shoulder_Roll: -82.000
      Left_Elbow_Pitch: -69.000
      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: 9.000
      Left_Hip_Yaw: 1.000
      Left_Knee_Pitch: 38.000
      Left_Ankle_Pitch: 9.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 8.000
      Right_Hip_Roll: -5.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -8.000
      Right_Ankle_Pitch: 5.000
      Right_Ankle_Roll: -3.000

  - 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: -68.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 68.000
      Right_Shoulder_Roll: 48.000
      Right_Elbow_Pitch: -62.000
      Right_Elbow_Yaw: 0.000
      Waist: 0.000
      Left_Hip_Pitch: -10.000
      Left_Hip_Roll: 9.000
      Left_Hip_Yaw: 1.000
      Left_Knee_Pitch: 34.000
      Left_Ankle_Pitch: 9.000
      Left_Ankle_Roll: 3.000
      Right_Hip_Pitch: 8.000
      Right_Hip_Roll: -5.000
      Right_Hip_Yaw: 0.000
      Right_Knee_Pitch: -6.000
      Right_Ankle_Pitch: 4.000
      Right_Ankle_Roll: -3.000

  - delta: 0.24
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Left_Shoulder_Pitch: 65.000
      Left_Shoulder_Roll: -75.000
      Left_Elbow_Pitch: -60.000
      Left_Elbow_Yaw: 0.000
      Right_Shoulder_Pitch: 65.000
      Right_Shoulder_Roll: 45.000
      Right_Elbow_Pitch: -60.000
      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