start_position -0.45 0.0 -0.21
goal_position -4.26 -0.78 -0.37
vis_graph_status dev
step_planner_status dev
plan_then_snap_status test
a_star_iteration_limit 1600
vis_graph_with_a_star_iteration_limit 1600
quadruped_planner_status dev
quadruped_timeout 5.0