autoTakeover 500 800
setReference $POSE$
setMaxControl 0.1
setInitialReachDist 0.2
setStayWithinDist 0.3
setStayTime 3
lockScaleFP

goto 0 0 0 0
goto 0 0 1 0
goto 0 0 0 0
goto 0 0 1 0
goto 0 0 0 0
goto 0 0 1 0

goto 0.5 -0.5 1 0
goto -0.5 -0.5 1 0
goto -0.5 0.5 1 0
goto 0.5 0.5 1 0

goto 0.5 0.5 0 0
goto -0.5 0.5 0 0
goto -0.5 -0.5 0 0
goto 0.5 -0.5 0 0

goto 0 0 0 0




