old_contents: import numpy as np
  
  blockName = 'stair'
  blockSize = np.array([1.0, 0.28, 0.22]) # meters
  blockTiltAngle = 0 # degrees
  
  
  # F=sloping up forward (+x), B=sloping up backward (-x),
  # R=sloping up rightward (-y), L=sloping up leftward (+y)
  # last row is closest to robot (robot is on bottom looking up)
  # column order is left-to-right on robot (+y to -y)
  blockTypes = [
      [ 'B' ],
      [ 'A' ],
      [ 'A' ],
      [ 'A' ]
  ]
  blockTypes.reverse()
  
  # 0=ground level, 1=one cinderblock offset, etc
  blockLevels = [
      [ 3 ],
      [ 2 ],
      [ 1 ],
      [ 0 ]
  ]
  blockLevels.reverse()
  
  # map between block types and yaw angles (degrees)
  blockAngleMap = { 'A': 90, 'B': 90 }
  
  # TODO: this is just an example
  # which foot, block (row,col), offset (x,y), support
  # (row,col) refer to which block
  # (x,y) are offsets wrt the block center, in meters
  # support is an enum indicating foot support type
  #   0=heel-toe, 1=midfoot-toe, 2=heel-midfoot
  footstepData = [
      [ 'right', (0,0), (-0.09, -0.11),  2 ],
      [ 'left',  (0,0), (-0.09,  0.11),  2 ],
      [ 'right', (1,0), (-0.09, -0.11),  2 ],
      [ 'left',  (1,0), (-0.09,  0.11),  2 ],
      [ 'right', (2,0), (-0.09, -0.11),  2 ],
      [ 'left',  (2,0), (-0.09,  0.11),  2 ],
      [ 'right', (3,0), (-0.09, -0.11),  2 ],
      [ 'left',  (3,0), (-0.09,  0.11),  2 ],
  ]
  
  # where to stand, relative to front of first block
  startingPosition = np.array([-0.34, 0, 0])
  startingYaw = 0   # degrees
  
  # whether to lock lateral footstep offset
  forceZeroLateralFootstepOffset = True
  
  blockColor = [0.4, 0.6, 0.4]
  blockColorMatched = [0.5, 0.8, 0.5]
  
new_contents: import numpy as np
  
  blockName = 'stair'
  blockSize = np.array([1.0, 0.28, 0.22]) # meters
  blockTiltAngle = 0 # degrees
  
  
  # F=sloping up forward (+x), B=sloping up backward (-x),
  # R=sloping up rightward (-y), L=sloping up leftward (+y)
  # last row is closest to robot (robot is on bottom looking up)
  # column order is left-to-right on robot (+y to -y)
  blockTypes = [
      [ 'B' ],
      [ 'A' ],
      [ 'A' ],
      [ 'A' ]
  ]
  blockTypes.reverse()
  
  # 0=ground level, 1=one cinderblock offset, etc
  blockLevels = [
      [ 3 ],
      [ 2 ],
      [ 1 ],
      [ 0 ]
  ]
  blockLevels.reverse()
  
  # map between block types and yaw angles (degrees)
  blockAngleMap = { 'A': 90, 'B': 90 }
  
  # TODO: this is just an example
  # which foot, block (row,col), offset (x,y), support
  # (row,col) refer to which block
  # (x,y) are offsets wrt the block center, in meters
  # support is an enum indicating foot support type
  #   0=heel-toe, 1=midfoot-toe, 2=heel-midfoot
  footstepData = [
      [ 'right', (0,0), (-0.09, -0.11),  1 ],
      [ 'left',  (0,0), (-0.09,  0.11),  1 ],
      [ 'right', (1,0), (-0.09, -0.11),  1 ],
      [ 'left',  (1,0), (-0.09,  0.11),  1 ],
      [ 'right', (2,0), (-0.09, -0.11),  1 ],
      [ 'left',  (2,0), (-0.09,  0.11),  1 ],
      [ 'right', (3,0), (-0.09, -0.11),  1 ],
      [ 'left',  (3,0), (-0.09,  0.11),  1 ],
  ]
  
  # where to stand, relative to front of first block
  startingPosition = np.array([-0.34, 0, 0])
  startingYaw = 0   # degrees
  
  # whether to lock lateral footstep offset
  forceZeroLateralFootstepOffset = True
  
  blockColor = [0.4, 0.6, 0.4]
  blockColorMatched = [0.5, 0.8, 0.5]
  
subject: use correct support group on stairs