{
    "id": "walk",
    "track": "lower",
    "duration": 0.6,
    "loop": true,
    "keyframes": [
        { "t": 0.0, "leg_l":  {"angle": -20}, "leg_r":  {"angle":  20},
                    "foot_l": {"angle":  10}, "foot_r": {"angle": -10} },
        { "t": 0.3, "leg_l":  {"angle":  20}, "leg_r":  {"angle": -20},
                    "foot_l": {"angle": -10}, "foot_r": {"angle":  10} },
        { "t": 0.6, "leg_l":  {"angle": -20}, "leg_r":  {"angle":  20},
                    "foot_l": {"angle":  10}, "foot_r": {"angle": -10} }
    ]
}