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

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


setMaxControl 1
setInitialReachDist 0.2
setStayWithinDist 0.5
setStayTime 5

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


setMaxControl 1
setInitialReachDist 0.2
setStayWithinDist 0.5
setStayTime 10

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