{
    "dt": 0.01,
    "kp": 40.0,
    "kd": 1.0,
    "init_pos": [
        0.0,
        0.9,
        -1.8,
        0.0,
        0.9,
        -1.8,
        0.0,
        0.9,
        -1.8,
        0.0,
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        -1.8
    ]
}