#seq mode  dt   dx   dy  nj   joint angle ... joint angle 
1    move 0.2    0    0   1     TT   10
2    move 0.2    0    0   1     TT   10
3    move 0.3    0    0   1     TT   10
4    move 0.4    0    0   2     RUL  +20   RLL  -20
5    move 0.4    0    0   2     LUL  +20   LLL  -20
6    move 0.4  1.0    0   0
7    move 0.4  1.0    0   0
8    move 0.4  1.0    0   0
9    move 0.4    0    0   2     RBA  -45   LBA   45
# fini
99    end  0.0  0.0  0.0   0