load_weight,imu_roll,imu_pitch,step_speed,action
2.0,1,2,0.6,walk_normal
4.0,4,6,0.4,slow_walk
5.5,8,9,0.3,stabilize
3.0,3,3,0.5,adjust_posture
1.5,0,1,0.7,walk_fast