****************** Pos *************************************************************************************************************************** // name LS RS LUA RUA LE RE LW RW LHD RHD HEAD W LLT RLT LH RH LL RL LK RK LA RA LF RF //------------------------------------------------------------------------------------------------------------------------------------------------ pose init 180 180 180 180 90 90 0 0 0 0 90 90 90 90 180 180 148 148 30 30 90 90 90 90 pose lean 180 180 170 170 90 90 0 0 0 0 90 90 90 90 180 180 132 132 75 75 60 60 90 90 pose q-lean 180 180 170 170 90 90 0 0 0 0 90 90 90 90 180 180 110 110 105 105 50 50 90 90 pose q-slc 180 180 170 170 90 90 0 0 0 0 90 90 90 90 190 162 150 135 75 95 50 40 75 104 pose q-src-b 180 180 170 170 90 90 0 0 0 0 90 90 90 90 162 190 135 150 95 75 40 50 104 75 pose q-src9c 100 180 170 170 90 90 0 0 0 0 90 90 90 90 165 195 100 115 120 105 50 50 105 75 pose q-srrb9c 180 140 170 170 90 90 0 0 0 0 90 90 90 90 167 190 87 150 112 80 66 52 100 75 pose q-slrb9c 180 150 170 170 90 90 0 0 0 0 90 90 90 90 195 165 117 181 105 45 50 48 75 105 pose q-srlb9c 150 180 170 170 90 90 0 0 0 0 90 90 90 90 165 195 181 117 45 105 48 50 105 75 pose q-scrb-c 180 140 170 170 90 90 0 0 0 0 90 90 90 90 180 180 117 181 105 45 50 48 90 90 pose q-sllb9c 140 180 170 170 90 90 0 0 0 0 90 90 90 90 190 166 150 87 80 112 52 66 75 100 pose q-sclb-c 140 180 170 170 90 90 0 0 0 0 90 90 90 90 177 183 179 120 45 105 50 50 93 87 pose lean-back 180 180 170 170 90 90 0 0 0 0 90 90 90 90 180 180 135 135 75 75 60 60 90 90 pose src-c 100 180 170 170 90 90 0 0 0 0 90 90 90 90 162 190 132 132 75 75 60 60 104 75 pose q-slrb10c 180 150 170 170 90 90 0 0 0 0 90 90 90 90 195 165 110 181 105 45 50 46 75 109 pose q-srlb10c 150 180 170 170 90 90 0 0 0 0 90 90 90 90 165 195 181 110 45 105 46 50 112 75 pose q-src-b2 180 180 170 170 90 90 0 0 0 0 90 90 90 90 162 190 135 150 95 75 43 50 104 75 pose q-srrb10c 180 140 170 170 90 90 0 0 0 0 90 90 90 90 167 190 87 146 112 80 66 52 100 75 pose q-slc10 180 180 170 170 90 90 0 0 0 0 90 90 90 90 190 162 148 135 75 95 50 40 75 104 pose q-src-b10 180 180 170 170 90 90 0 0 0 0 90 90 90 90 162 190 135 144 95 75 40 50 104 75 pose RP-src-5 180 180 170 170 90 90 0 0 0 0 90 90 90 90 162 190 135 142 95 75 40 55 104 75 pose q-slrb11c 180 150 170 170 90 90 0 0 0 0 90 90 90 90 195 165 110 181 105 45 46 46 75 109 pose q-srlb11c 150 180 170 170 90 90 0 0 0 0 90 90 90 90 165 195 181 110 45 105 46 46 109 75 ****************** Sequence ************************************************************************************************************************* // NAME ****************** State ************************************************************************************************************************* // NAME Steps mode speed pos name //------------------------------------------------------------------------------------------------------------------------------------------------ //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast state leandown 6 E 1 lean state src 14 E 0 src-c state srrb 10 E 0 q-srrb9c state scrb 14 E 1 q-scrb-c state slrb 12 E 0 q-slrb11c state slc 14 E 0 q-slc10 state sllb 8 E 0 q-sllb9c state sclb 14 E 1 q-sclb-c state srlb 12 E 0 q-srlb11c state src2 14 E 0 q-src-b10 state lean-back 8 E 1 lean-back state lean 20 W 1 lean state init 10 E 1 init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-s state leandown 6 E 1 lean state src 14 E 0 src-c //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-c state srrb 10 E 0 q-srrb9c state scrb 14 E 1 q-scrb-c state slrb 12 E 0 q-slrb11c state slc 14 E 0 q-slc10 state sllb 8 E 0 q-sllb9c state sclb 14 E 1 q-sclb-c state srlb 12 E 0 q-srlb11c state src2 14 E 0 q-src-b10 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-e state lean-back 8 E 1 lean-back state lean 20 W 1 lean state init 10 E 1 init //------------------------------------------------------------------------------------------------------------------------------------------------ ****************** Routine **************************************************************************************************************************** // NAME Sequence name //------------------------------------------------------------------------------------------------------------------------------------------------ Routine q-walkfast q-walkfast Routine q-walk30 q-walkfast-s q-walkfast-c q-walkfast-c q-walkfast-c q-walkfast-c q-walkfast-c q-walkfast-c q-walkfast-e