{
 "name": "forward_15cm",
 "planner": "footstepnet_5cm.onnx",
 "frame": "start stance: origin midway between the start sole centres, x forward, y left; m, rad",
 "start": [
  {
   "foot": "left",
   "x": 0.0,
   "y": 0.042,
   "yaw": 0.0
  },
  {
   "foot": "right",
   "x": 0.0,
   "y": -0.042,
   "yaw": 0.0
  }
 ],
 "steps": [
  {
   "foot": "left",
   "x": 0.04309989344210214,
   "y": 0.05086197772514345,
   "yaw": 0.25944930945826294
  },
  {
   "foot": "right",
   "x": 0.10430812546582661,
   "y": -0.03839103814521548,
   "yaw": -0.05147338758291475
  },
  {
   "foot": "left",
   "x": 0.1468612185696449,
   "y": 0.04753686970450348,
   "yaw": 0.07466425646959074
  },
  {
   "foot": "right",
   "x": 0.15394773438899473,
   "y": -0.047198452607409846,
   "yaw": 0.07466425646959074
  }
 ]
}