autoInit 500 800

setReference $POSE$
setMaxControl 1
setInitialReachDist 0.2
setStayWithinDist 0.5
setStayTime 2

goto -1 0 -0.4 0
goto 1 0 -0.4 0
goto -1 0 0.8 0
goto 1 0 0.8 0
goto 0 0 1.4 0
goto -1 0 0.8 0
goto -1 0 -0.4 0
goto 1 0 0.8 0
goto 1 0 -0.4 0
goto 0 0 -0.4 0

land
