targetDisplacementVelocity          0.5;
targetRotationVelocity              1.57;

comHeight                           0.4

defaultJointState
{
   (0,0)  -0.10   ; FL_hip_joint
   (1,0)   0.62   ; FL_thigh_joint
   (2,0)  -1.24   ; FL_calf_joint
   (3,0)   0.10   ; FR_hip_joint
   (4,0)   0.62   ; FR_thigh_joint
   (5,0)  -1.24   ; FR_calf_joint
   (6,0)  -0.10   ; RL_hip_joint
   (7,0)   0.62   ; RL_thigh_joint
   (8,0)  -1.24   ; RL_calf_joint
   (9,0)   0.10   ; RR_hip_joint
   (10,0)  0.62   ; RR_thigh_joint
   (11,0) -1.24   ; RR_calf_joint
}

initialModeSchedule
{
  modeSequence
  {
    [0]  STANCE
    [1]  STANCE
  }
  eventTimes
  {
    [0]  0.5
  }
}

defaultModeSequenceTemplate
{
  modeSequence
  {
    [0]  STANCE
  }
  switchingTimes
  {
    [0]  0.0
    [1]  1.0
  }
}