text: import numpy as np
  from enum import Enum
  
  
  class State:
      def __init__(self):
          self.horizontal_velocity = np.array([0.0, 0.0])
          self.yaw_rate = 0.0
          self.height = -0.16
          self.pitch = 0.0
          self.roll = 0.0
          self.activation = 0
  #        self.behavior_state = BehaviorState.DEACTIVATED
          self.behavior_state = BehaviorState.REST
  
          self.ticks = 0
          self.foot_locations = np.zeros((3, 4))
          self.joint_angles = np.zeros((3, 4))
  
  
  class BehaviorState(Enum):
      DEACTIVATED = -1
      REST = 0
      TROT = 1
      HOP = 2
      FINISHHOP = 3