symmetry: true
kp: 75
kd: 1
keyframes:

  - delta: 1
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: -114.592
      Shoulder_Roll: -71.619
      Elbow_Pitch: -85.944
      Elbow_Yaw: -171.887
      Waist: 0.000
      Hip_Pitch: -45.836
      Hip_Roll: 179.908
      Hip_Yaw: 179.908
      Knee_Pitch: -179.908
      Ankle_Pitch: 89.954
      Ankle_Roll: 89.954
    kp: 250
    kd: 1
    p_gains:
      Hip_Pitch: 20
      Hip_Roll: 20
      Hip_Yaw: 20
      Knee_Pitch: 20
    d_gains:
      Hip_Pitch: 1
      Hip_Roll: 1
      Hip_Yaw: 1
      Knee_Pitch: 1

  - delta: 0.8125
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: -114.592
      Shoulder_Roll: -89.954
      Elbow_Pitch: -85.944
      Elbow_Yaw: 0.000
      Waist: 0.000
      Hip_Pitch: -45.836
      Hip_Roll: 179.908
      Hip_Yaw: 179.908
      Knee_Pitch: -179.908
      Ankle_Pitch: 63.026
      Ankle_Roll: 45.836
    p_gains:
      Hip_Pitch: 25
      Hip_Roll: 25
      Hip_Yaw: 25
      Knee_Pitch: 25



  - delta: 0.6
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: 89.954
      Shoulder_Roll: -89.954
      Elbow_Pitch: 0.000
      Elbow_Yaw: 0.000
      Waist: 0.000
      Hip_Pitch: 20.054
      Hip_Roll: 11.459
      Hip_Yaw: 0.000
      Knee_Pitch: -42.971
      Ankle_Pitch: 57.296
      Ankle_Roll: 0.000
    kp: 40
    kd: 4
    p_gains:
       Ankle_Pitch: 100
       Ankle_Roll: 100

  - delta: 0.25
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: 0.000
      Shoulder_Roll: -77.363
      Elbow_Pitch: -85.944
      Elbow_Yaw: 0.000
      Waist: 0.000
      Hip_Pitch: 20.054
      Hip_Roll: 7.162
      Hip_Yaw: 0.000
      Knee_Pitch: -42.971
      Ankle_Pitch: 0.000
      Ankle_Roll: 0.000
    kp: 200
    kd: 3.5