symmetry: true
kp: 75
kd: 1
keyframes:
  - delta: 0.1
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: -89.954
      Shoulder_Roll: -71.619
      Elbow_Pitch: 0.000
      Elbow_Yaw: -114.592
      Waist: 0.000
      Hip_Pitch: 0.000
      Hip_Roll: 14.324
      Hip_Yaw: 0.000
      Knee_Pitch: 0.000
      Ankle_Pitch: 0.000
      Ankle_Roll: 0.000

  - delta: 0.5
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: 57.296
      Shoulder_Roll: -71.619
      Elbow_Pitch: -85.944
      Elbow_Yaw: -171.887
      Waist: 0.000
      Hip_Pitch: 0.000
      Hip_Roll: 14.324
      Hip_Yaw: 0.000
      Knee_Pitch: -28.648
      Ankle_Pitch: 0.000
      Ankle_Roll: 0.000


  - delta: 0.8125
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: 89.954
      Shoulder_Roll: -89.954
      Elbow_Pitch: -85.944
      Elbow_Yaw: 0.000
      Waist: 0.000
      Hip_Pitch: 200.536
      Hip_Roll: 143.239
      Hip_Yaw: 114.592
      Knee_Pitch: -171.887
      Ankle_Pitch: 89.954
      Ankle_Roll: 24.919

  - delta: 0.45
    motor_positions:
      Head_yaw: 0.000
      Head_pitch: 0.000
      Shoulder_Pitch: 89.954
      Shoulder_Roll: -89.954
      Elbow_Pitch: -85.944
      Elbow_Yaw: 0.000
      Waist: 0.000
      Hip_Pitch: 20.054
      Hip_Roll: 11.459
      Hip_Yaw: 0.000
      Knee_Pitch: -42.972
      Ankle_Pitch: 0.000
      Ankle_Roll: 0.000
    kp: 50
    kd: 2
    p_gains:
       Ankle_Pitch: 50
       Ankle_Roll: 50

  - delta: 0.13
    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: -42.972
      Ankle_Pitch: 0.000
      Ankle_Roll: 0.000
    kp: 200
    kd: 1.95