Change orbit and root height accoridng to the plans

   |Standing|Plane|First Step to Climb Up|Second Steo to Climb Up|To state|
---|-----|-----|---|---|---|
Standing|Do nothing|-50mm height and :cycloid |-90mm and :stairs |Never happens| |
Plane|Back to normal|Do nothing|-90mm and :stairs |Never happens| |
First Step to Climb up|Do nothing|Never happend|Never happens|Do nothing| |
Second Climb up|Back to normal|-50mm height and :cycloid|Do nothing|Never happens| |
From State| | | | | |