{
  "dx": 0.0,
  "dy": 0.0,
  "dtheta": 0.0,
  "duration": 8,
  "hardware": true,
  "double_support_ratio": 0.2,
  "startend_double_support_ratio": 1.5,
  "planned_timesteps": 48,
  "replan_timesteps": 10,
  "walk_com_height": 0.2,
  "walk_foot_height": 0.02,
  "walk_trunk_pitch": 0,
  "walk_foot_rise_ratio": 0.3,
  "single_support_duration": 0.17,
  "single_support_timesteps": 10,
  "foot_length": 0.06,
  "feet_spacing": 0.16,
  "zmp_margin": 0.0,
  "foot_zmp_target_x": 0.0,
  "foot_zmp_target_y": 0.0,
  "walk_max_dtheta": 0.3,
  "walk_max_dy": 0.1,
  "walk_max_dx_forward": 0.08,
  "walk_max_dx_backward": 0.03,
  "joints": [
    "left_hip_yaw",
    "left_hip_roll",
    "left_hip_pitch",
    "left_knee",
    "left_ankle",
    "right_hip_yaw",
    "right_hip_roll",
    "right_hip_pitch",
    "right_knee",
    "right_ankle",
    "neck_pitch",
    "head_pitch", 
    "head_yaw",
    "head_roll",
    "left_antenna",
    "right_antenna"
  ],
  "joint_angles": {
    "neck_pitch": 0,
    "head_pitch": 0,
    "head_yaw": 0,
    "head_roll": 0,
    "left_antenna": 0,
    "right_antenna": 0
  }
}