{
  "walk": {
    "speed": 6.0,
    "amplitude": 25.0
  },
  "run": {
    "speed": 12.0,
    "amplitude": 40.0
  },
  "body_bob": 0.03,
  "head": {
    "node": "Head",
    "amplitude": 4.0
  },
  "legs": [
    {
      "node": "Foot_FL",
      "phase": 0.0
    },
    {
      "node": "Foot_FR",
      "phase": 3.14159
    },
    {
      "node": "Foot_HL",
      "phase": 3.14159
    },
    {
      "node": "Foot_HR",
      "phase": 0.0
    }
  ]
}