autoTakeover 500 800
setReference $POSE$
setMaxControl 0.1
setInitialReachDist 0.2
setStayWithinDist 0.5
setStayTime 3
lockScaleFP

goto 0 0 0 0
goto 0 0 1.5 0
goto 0 0 0 0
goto 0 0 1.5 0
goto 0 0 0 0
goto 0 0 1.5 0

goto 1.5 -1.5 1.5 0
goto -1.5 -1.5 1.5 0
goto -1.5 1.5 1.5 0
goto 1.5 1.5 1.5 0

goto 1.5 1.5 0.5 0
goto -1.5 1.5 0.5 0
goto -1.5 -1.5 0.5 0
goto 1.5 -1.5 0.5 0

goto 0 0 0.5 0






