autoInit 500 800 6000 0.5

setReference $POSE$
setInitialReachDist 0.2
setStayWithinDist 0.3
setStayTime 1
lockScaleFP

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


goto -0.5 -0.5 0 0

land


