text: #ifndef GAIT_CONFIG_H
  #define GAIT_CONFIG_H
  
  #define KNEE_ORIENTATION        ">>"
  #define PANTOGRAPH_LEG          false
  #define ODOM_SCALER             1.0
  #define MAX_LINEAR_VELOCITY_X   0.5
  #define MAX_LINEAR_VELOCITY_Y   0.25
  #define MAX_ANGULAR_VELOCITY_Z  1.0
  #define COM_X_TRANSLATION       0.0
  #define SWING_HEIGHT            0.04
  #define STANCE_DEPTH            0.0
  #define STANCE_DURATION         0.25
  #define NOMINAL_HEIGHT          0.4
  
  #endif