****************** Do not change the order of the definitions ************************************************************************************ ** ****************** Config ************************************************************************************************************************ // Pulse1 Pulse2 Pulse3 RemoteID LowPower //------------------------------------------------------------------------------------------------------------------------------------------------ config 225 12 163 31 50 ****************** Servo ************************************************************************************************************************* // NAME init pos offset ATV adjustment Upper Limit Lower Limit //------------------------------------------------------------------------------------------------------------------------------------------------ servo LHAND 90 10 136 130 0 servo HEAD 90 12 26 130 43 servo LLT 90 31 138 100 65 servo LHIP 180 21 140 195 75 servo LLEG 144 0 133 255 63 servo LKNEE 30 0 122 180 0 servo LANKLE 90 7 128 195 0 servo LFOOT 90 8 126 135 50 servo RSHOULDER 180 12 125 200 0 servo RARM 170 23 133 210 0 servo RELBOW 90 8 121 202 0 servo RWRIST 0 7 105 100 0 servo RHAND 90 10 113 130 0 servo WAIST 90 18 130 150 25 servo RLT 90 65 140 100 65 servo RHIP 180 4 143 195 75 servo LSHOULDER 180 14 123 200 0 servo LARM 170 12 133 210 0 servo LELBOW 90 15 124 200 0 servo LWRIST 0 10 114 100 0 servo RFOOT 90 27 123 135 46 servo RANKLE 90 15 127 187 0 servo RKNEE 30 12 125 180 0 servo RLEG 144 26 127 255 67 ****************** 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 RP-init 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 142 142 30 30 90 90 90 90 pose RP-init-op 252 252 252 252 252 252 252 252 0 0 252 252 252 252 252 252 252 252 252 252 252 252 252 252 pose RP-init-cl 252 252 252 252 252 252 252 252 90 90 252 252 252 252 252 252 252 252 252 252 252 252 252 252 pose RP-reset 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 142 142 31 31 90 90 90 90 pose arm_rest 150 150 150 150 90 90 0 0 90 90 90 90 90 90 180 180 142 142 31 31 90 90 90 90 pose RP-config 90 90 90 90 90 90 0 0 90 90 90 90 90 90 180 180 180 180 90 90 90 90 90 90 pose RP-lean 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 124 124 75 75 60 60 90 90 pose RP-standup 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 131 131 75 75 60 60 90 90 pose RP-sitdown 180 180 150 150 90 90 0 0 90 90 90 90 90 90 180 180 86 86 170 170 0 0 90 90 pose RP-sitdown2 150 150 150 150 90 90 0 0 90 90 90 90 90 90 180 180 90 90 170 170 0 0 90 90 pose RP-sitdownstr 90 135 180 170 150 165 0 0 90 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose RP-frontup_ldf1 173 173 180 180 90 90 0 0 90 90 90 90 90 90 180 180 180 180 90 90 0 0 90 90 pose RP-frontup_ldf2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 132 132 40 40 0 0 90 90 pose RP-frontup_ldf3 180 180 90 90 90 90 0 0 90 90 90 90 90 90 180 180 132 132 40 40 10 10 90 90 pose RP-frontup_ldf7 90 90 180 180 90 90 0 0 90 90 90 90 90 90 180 180 90 90 120 120 0 0 90 90 pose RP-frontup_ldf8 112 112 180 180 90 90 0 0 90 90 90 90 90 90 180 180 70 70 150 150 0 0 90 90 pose RP-frontup_ldf10 180 180 150 150 90 90 0 0 90 90 90 90 90 90 180 180 90 90 170 170 0 0 90 90 pose RP-frontup_leanback 135 135 160 180 90 90 0 0 90 90 90 130 90 90 180 180 70 70 170 170 0 0 90 90 pose RP-src-2 140 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 132 132 75 75 60 60 104 75 pose RP-slrb 180 150 170 170 90 90 0 0 90 90 90 90 90 90 195 165 109 173 105 45 50 48 75 105 pose RP-srlb 140 180 170 170 90 90 0 0 90 90 90 90 90 90 165 195 171 107 45 105 48 50 105 75 pose RP-crb 180 140 170 170 90 90 0 0 90 90 90 90 90 90 180 180 113 177 105 45 50 48 90 90 pose RP-sllb9d 180 180 170 170 90 90 0 0 90 90 90 90 90 90 190 166 136 96 80 112 55 66 75 105 pose RP-src-1 180 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 122 128 95 75 50 60 104 75 pose GB_Kiss_1 180 60 165 150 90 200 0 90 90 90 70 110 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_2 180 60 165 130 90 170 0 90 90 90 70 110 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_3 180 60 165 175 90 180 0 90 90 90 90 90 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_4 180 60 165 150 90 170 0 90 90 90 90 90 90 90 180 180 144 144 30 30 90 90 90 90 pose flip-f-knee 90 90 170 170 90 90 0 0 0 0 90 90 90 90 180 180 70 70 135 135 30 30 90 90 pose bow_fwd 115 115 150 150 165 170 0 0 90 90 90 90 90 90 180 180 110 110 55 55 90 90 90 90 pose bow_back 115 115 150 150 160 170 0 0 90 90 90 90 90 90 180 180 130 130 40 40 90 90 90 90 pose RP-srrb9 180 140 170 170 90 90 0 0 90 90 90 90 90 90 167 190 97 142 112 80 66 55 100 75 pose RP-clb9 140 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 175 116 45 105 50 50 90 90 pose RP-slc-9 180 180 170 170 90 90 0 0 90 90 90 90 90 90 190 162 131 122 75 95 60 50 75 104 pose st-right2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 85 pose ss-lean 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 90 pose st-left2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 85 90 pose st-left10 180 180 170 170 90 90 0 0 90 90 90 90 90 70 177 180 124 124 75 75 60 60 94 82 pose st-right10 180 180 170 170 90 90 0 0 90 90 90 90 70 90 180 177 124 124 75 75 60 60 82 94 pose ss-crb3 180 155 170 170 90 90 0 0 90 90 90 90 90 90 178 180 117 146 68 60 78 60 93 84 pose ss-clb3 155 180 170 170 90 90 0 0 90 90 90 90 90 90 180 176 150 123 60 68 60 78 84 93 pose ss-slc 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 178 130 130 75 75 60 60 84 93 pose ss-slrb2 180 150 170 170 90 90 0 0 90 90 90 90 90 90 180 176 113 143 68 60 78 60 83 93 pose ss-src 180 180 170 170 90 90 0 0 90 90 90 90 90 90 178 180 130 130 75 75 60 60 93 83 pose ss-srlb2 150 180 170 170 90 90 0 0 90 90 90 90 90 90 176 180 143 113 60 68 60 78 90 83 pose slide_ma_3d 160 160 160 160 90 90 0 0 90 90 90 90 90 70 180 170 124 205 106 3 49 64 90 105 pose RP-init-2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 145 145 30 30 90 90 90 90 pose flip-f-bow 90 90 180 180 90 90 0 0 0 0 90 90 90 90 180 180 80 80 30 30 80 80 90 90 pose flip-f-head 128 128 170 170 90 90 0 0 90 90 90 90 90 90 180 180 70 70 5 5 80 80 90 90 pose flip-f-toe 98 98 170 170 90 90 0 0 90 90 90 90 90 90 180 180 70 70 0 0 135 140 90 90 pose flip-f-hand 98 109 170 170 90 90 0 0 90 90 90 90 70 90 180 180 250 70 0 0 135 140 90 90 pose flip-f-hand2 70 70 170 170 90 90 0 0 90 90 90 90 90 90 170 170 240 240 0 0 155 155 85 85 pose ss_right2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 155 130 130 75 75 60 60 97 90 pose ss-lean-l 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 88 90 pose ss_left2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 155 180 130 130 75 75 60 60 90 97 pose ss-lean-r 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 85 pose RP-init-3 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 146 146 30 30 90 90 90 90 pose slow-srrb 180 180 165 150 90 90 0 0 90 90 90 90 90 90 162 190 119 144 95 90 50 40 109 80 pose slow-sllb 180 180 150 165 90 90 0 0 90 90 90 90 90 90 190 162 141 122 90 95 40 50 80 109 pose slow-lean 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 90 pose slow-slrb3 180 180 155 165 90 90 0 0 90 90 90 90 90 90 190 162 118 138 95 90 50 40 80 109 pose slow-srlb3 180 180 165 155 90 90 0 0 90 90 90 90 90 90 162 190 138 118 90 95 40 50 109 80 pose slow-src1 180 180 170 160 90 90 0 0 90 90 90 90 90 90 162 190 122 130 95 75 50 61 104 75 pose slow-slc2 180 150 170 165 90 90 0 0 90 90 90 90 90 90 190 162 125 122 75 95 64 42 78 104 pose slow-src4 150 180 170 165 90 90 0 0 90 90 90 90 90 90 162 190 117 126 95 75 42 67 104 78 pose RP-backup_s1 170 170 170 170 90 90 0 0 90 90 90 90 90 90 180 180 150 150 150 150 70 70 90 90 pose lean_dn_sit_b11 90 90 90 90 90 90 0 0 90 90 90 90 90 90 180 180 160 160 170 170 25 25 90 90 pose lean_dn_sit_b13 90 90 10 0 90 90 0 0 90 90 90 90 90 90 180 180 190 190 120 120 25 25 90 90 pose lean_dn_sit_b22 30 35 10 0 90 100 0 0 90 90 90 130 90 90 180 180 105 115 165 180 0 0 90 90 pose lean_dn_sit_b30 90 90 10 0 150 150 0 0 90 90 90 90 90 90 180 180 190 190 120 120 60 60 90 90 pose lean_dn_sit_b231 120 30 180 10 90 90 0 0 90 90 90 125 90 90 180 180 110 110 170 170 0 0 90 90 pose RP-frontup_ldf47 0 0 90 90 90 90 0 0 90 90 90 90 90 90 180 180 132 132 40 40 10 10 90 90 pose RP-frontup_ldf48 0 0 180 180 110 110 0 0 90 90 90 90 90 90 180 180 132 132 40 40 10 10 90 90 pose twist1 0 0 165 165 90 90 0 0 0 0 90 90 90 70 180 170 120 195 106 3 50 75 90 105 pose twist2 0 0 165 165 90 90 90 90 0 0 90 90 90 70 180 170 120 195 106 3 50 75 90 105 pose twist3 0 0 165 165 90 90 0 0 90 90 90 90 90 70 180 170 120 195 106 3 50 75 90 105 pose twist4 0 0 165 165 90 90 90 90 90 90 90 90 90 70 180 170 120 195 106 3 50 75 90 105 pose flip-f-bow2 65 65 90 90 175 175 0 0 0 0 90 90 90 90 180 180 75 75 5 5 80 80 90 90 pose flip-f-bow3 65 65 70 70 195 195 0 0 0 0 90 90 90 90 180 180 75 75 5 5 80 80 90 90 pose flip-f-bow4 30 30 70 70 195 195 0 0 0 0 90 90 90 90 180 180 75 75 0 0 120 120 90 90 pose flip-f-bow10 65 65 180 180 90 90 0 0 0 0 90 90 90 90 180 180 74 74 0 0 140 140 90 90 pose flip-f-bow6 20 20 70 70 195 195 0 0 0 0 90 90 90 90 180 180 75 75 150 0 110 130 90 90 pose flip-f-bow-stand 0 0 70 70 195 195 0 0 0 0 90 90 90 90 180 180 165 165 30 30 80 80 90 90 pose flip-f-bow100 65 65 180 180 90 90 0 0 90 90 90 90 90 90 180 180 74 74 0 0 140 140 90 90 pose flip-f-bow-stand01 0 0 90 90 200 200 0 0 0 0 90 90 90 90 180 180 165 165 30 30 80 80 90 90 pose flip-f-stand30 0 0 195 195 90 90 0 0 0 0 90 90 90 90 180 180 165 165 30 30 80 80 90 90 pose flip-ma 0 0 180 180 90 90 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 80 90 90 pose flip-ma2 55 55 180 180 90 90 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 80 90 90 pose flip-twist-2-60 0 0 180 180 90 90 0 0 0 0 90 60 90 90 100 100 165 165 30 30 80 80 90 90 pose flip-twist-1-120 0 0 90 90 200 200 0 0 0 0 90 120 90 90 100 100 165 165 30 30 80 80 90 90 pose flip-ma-up 0 0 180 180 90 90 0 0 0 0 90 90 90 90 180 180 165 165 30 30 80 80 90 90 pose flip-ma-cross-dn 0 0 180 180 90 90 0 0 0 0 90 90 90 90 180 180 245 90 30 30 80 80 90 90 pose flip-ma-cross-dn1 0 0 180 180 90 90 0 0 0 0 90 90 90 90 180 180 90 245 30 30 80 80 90 90 pose flip-left-dn5 0 0 10 10 90 90 0 0 0 0 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose f-lean 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 125 125 75 75 62 62 90 90 pose f-lean-l 180 180 170 170 90 90 0 0 90 90 90 90 90 90 185 170 125 125 75 75 62 62 80 100 pose f-lean-r 180 180 170 170 90 90 0 0 90 90 90 90 90 90 170 185 125 125 75 75 62 62 100 80 pose f-lean-r-tf 180 180 170 170 90 90 0 0 90 90 90 90 75 90 170 185 125 125 75 75 62 62 100 80 pose f-lean-r-tf2 180 180 170 170 90 90 0 0 90 90 90 90 75 75 170 185 125 125 75 75 62 62 100 80 pose f-lean-l-tf2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 185 170 125 125 75 75 62 62 80 100 pose f-lean-l-tf 180 180 170 170 90 90 0 0 90 90 90 90 75 75 185 170 120 120 75 75 62 62 80 100 pose f-lean-l-m2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 175 160 125 125 75 75 62 62 80 105 pose f-lean-rlb 150 180 170 170 90 90 0 0 90 90 90 90 90 90 170 185 125 105 75 75 62 72 100 80 pose f-lean-llb 150 180 170 170 90 90 0 0 90 90 90 90 90 90 185 170 125 110 75 75 62 72 80 100 pose f-lean-rrb 180 150 170 170 90 90 0 0 90 90 90 90 90 90 170 185 107 125 75 75 74 62 100 80 pose f-lean-lrb 180 150 170 170 90 90 0 0 90 90 90 90 90 90 185 170 105 125 75 75 72 62 80 100 pose f-lean-l-tr2 180 180 170 170 90 90 0 0 90 90 90 90 75 75 185 170 125 125 75 75 62 62 80 100 pose f-lean-r-tr 180 180 170 170 90 90 0 0 90 90 90 90 75 75 170 185 120 122 75 75 62 62 100 80 pose f-lean-r-tr2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 170 185 125 125 75 75 62 62 100 80 pose f-lean-r-m2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 160 175 125 125 75 75 62 62 105 80 pose f-lean-lrb2 180 150 170 170 90 90 0 0 90 90 90 90 90 90 185 170 103 125 75 75 72 62 77 103 pose f-lean-l5 180 180 170 170 90 90 0 0 90 90 90 90 90 90 185 170 120 117 75 75 64 72 78 103 pose break-60-1 0 0 80 80 200 200 0 0 0 0 90 90 90 90 100 100 165 165 30 30 80 80 90 90 pose break-120-1 0 0 80 80 200 200 0 0 0 0 90 130 90 90 100 100 165 165 30 30 80 80 90 90 pose break-120-2 0 0 70 70 200 200 0 0 0 0 90 130 90 90 100 100 165 165 30 30 80 80 90 90 pose break-120-3 0 0 70 70 200 200 0 0 0 0 90 120 90 90 170 170 165 165 30 30 80 80 90 90 pose break-60-2 0 30 55 80 200 200 0 0 0 0 90 90 90 90 100 100 165 165 30 30 80 80 90 90 pose break-60-3 30 0 63 65 200 200 0 0 0 0 90 90 90 90 100 100 165 165 30 30 80 80 90 90 pose break-60-0 0 0 80 80 200 200 0 0 0 0 90 55 90 90 100 100 165 165 30 30 80 80 90 90 pose break-60-0-up 0 0 70 70 200 200 0 0 0 0 90 55 90 90 100 100 165 165 30 30 80 80 90 90 pose break-60-0-turn 0 0 70 70 200 200 0 0 0 0 90 130 90 90 100 100 75 225 30 30 80 80 90 90 pose flip-f-bow400 30 30 85 85 195 195 0 0 0 0 90 90 90 90 180 180 75 75 0 0 120 120 90 90 pose flip-f-bow8200 0 0 90 90 200 200 0 0 0 0 90 90 90 90 180 180 195 75 90 0 145 130 90 90 pose flip-f-bow8310 0 0 90 90 200 200 0 0 0 0 90 90 90 90 180 180 195 105 0 90 145 130 90 90 pose flip-ma-back2 40 40 180 180 90 90 0 0 0 0 90 90 90 90 180 180 240 240 30 30 80 80 90 90 pose flip-left-dn20 0 0 195 145 120 200 0 0 0 0 90 90 90 90 195 90 165 80 30 180 80 0 90 90 pose brk-60-0 0 0 80 80 200 200 0 0 0 0 90 55 90 90 180 180 245 90 0 0 180 180 90 90 pose brk-120-0-1 0 0 80 80 200 200 0 0 0 0 90 130 90 90 180 180 245 90 0 0 180 180 90 90 pose brk-120-0-2 0 0 70 70 200 200 0 0 0 0 90 130 90 90 180 180 245 90 0 0 180 180 90 90 pose brk-60-0-up 0 0 70 70 200 200 0 0 0 0 90 55 90 90 180 180 245 90 0 0 180 180 90 90 pose brk-60-0-turn 0 0 70 70 200 200 0 0 0 0 90 55 90 90 180 180 225 115 0 0 45 45 90 90 pose ww-sit 75 170 155 150 105 90 90 0 88 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose r1 81 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 79 79 180 180 0 0 90 90 pose r2 83 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose r1-up 75 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose r3 85 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose r4 87 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose r5 89 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose r6 91 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose r7-up 88 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 91 91 180 180 0 0 90 90 pose r8 81 170 160 150 105 90 90 0 100 90 90 90 90 90 180 180 79 79 180 180 0 0 90 90 pose r9 85 170 160 150 105 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose r10 87 170 160 150 105 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose r11 89 170 160 150 105 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose r12 87 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose r13 92 170 154 150 111 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose r14 94 170 154 150 115 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose r14-up 90 170 154 150 115 90 90 0 103 90 90 90 90 90 180 180 91 91 180 180 0 0 90 90 pose o1 81 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 78 78 180 180 0 0 90 90 pose o2 83 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 79 79 180 180 0 0 90 90 pose o3 85 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose o4 87 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose o5 89 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose o6 91 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose o7 93 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose o8 82 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 79 79 180 180 0 0 90 90 pose o9 83 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose o10 85 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose o11 87 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose o12 89 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose o13 91 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose o14 93 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose o15 92 170 147 150 130 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose o15-up 86 170 147 150 130 90 90 0 103 90 90 90 90 90 180 180 88 88 180 180 0 0 90 90 pose o140 94 170 154 150 127 90 90 0 100 90 90 90 90 90 180 180 86 86 180 180 0 0 90 90 pose o70 94 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 86 86 180 180 0 0 90 90 pose o70-up 88 170 153 150 122 90 90 0 100 90 90 90 90 90 180 180 89 89 180 180 0 0 90 90 pose b-1 85 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose b-2 87 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose b-3 89 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose b-4 91 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose b-5 93 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose b-6 95 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 86 86 180 180 0 0 90 90 pose b-7 97 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 87 87 180 180 0 0 90 90 pose b-1-up 83 170 184 150 90 90 90 0 103 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose b9 85 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose b10 87 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose b11 89 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose b13 90 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose b14 91 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose b15 93 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose b16 95 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 86 86 180 180 0 0 90 90 pose b18 97 170 182 150 90 90 90 0 100 90 90 90 90 90 180 180 87 87 180 180 0 0 90 90 pose oo1 84 170 196 150 90 90 90 0 100 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose oo2 86 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 81 81 180 180 0 0 90 90 pose oo3 88 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose oo4 90 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose oo5 92 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 84 84 180 180 0 0 90 90 pose oo6 94 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose oo7 96 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 86 86 180 180 0 0 90 90 pose oo8 97 170 196 150 89 90 90 0 100 90 90 90 90 90 180 180 87 87 180 180 0 0 90 90 pose oo8-up 89 170 196 150 89 90 90 0 103 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose oo1-up 81 170 196 150 90 90 90 0 103 90 90 90 90 90 180 180 83 83 180 180 0 0 90 90 pose oo9 84 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 80 80 180 180 0 0 90 90 pose oo10 86 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 81 81 180 180 0 0 90 90 pose oo11 88 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 82 82 180 180 0 0 90 90 pose oo12 90 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 83 83 180 180 0 0 90 90 pose oo13 92 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 84 84 180 180 0 0 90 90 pose oo14 94 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 85 85 180 180 0 0 90 90 pose oo15 96 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 86 86 180 180 0 0 90 90 pose oo16 97 170 196 150 90 90 90 0 100 90 90 97 90 90 180 180 87 87 180 180 0 0 90 90 pose oo17 95 170 196 150 90 90 90 0 100 90 90 88 90 90 180 180 87 87 180 180 0 0 90 90 pose oo17-up 89 170 196 150 90 90 90 0 103 90 90 87 90 90 180 180 90 90 180 180 0 0 90 90 pose t1 84 170 156 150 141 90 90 0 100 90 90 103 90 90 180 180 80 80 180 180 0 0 90 90 pose t2 84 170 154 150 144 90 90 0 100 90 90 114 90 90 180 180 80 80 180 180 0 0 90 90 pose t3 83 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 80 80 180 180 0 0 90 90 pose t4 84 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 81 81 180 180 0 0 90 90 pose t5 87 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 82 82 180 180 0 0 90 90 pose t6 89 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 83 83 180 180 0 0 90 90 pose t7 90 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 84 84 180 180 0 0 90 90 pose t8 92 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 85 85 180 180 0 0 90 90 pose t9 95 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 86 86 180 180 0 0 90 90 pose t1-up 82 170 156 150 141 90 90 0 100 90 90 105 90 90 180 180 83 83 180 180 0 0 90 90 pose t9-up 90 170 151 150 149 90 90 0 103 90 90 109 90 90 180 180 89 89 180 180 0 0 90 90 pose r70 95 170 155 150 105 90 90 0 100 90 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose b-7-up 90 170 184 150 90 90 90 0 103 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose b18-up 91 170 182 150 90 90 90 0 103 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose t3-up 80 170 151 150 149 90 90 0 100 90 90 109 90 90 180 180 83 83 180 180 0 0 90 90 pose o1-up2 79 170 153 150 122 90 90 0 103 90 90 90 90 90 180 180 82 82 180 180 0 0 90 90 pose ww-sit0 170 170 90 90 105 105 90 0 88 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-sit1 75 170 50 90 195 105 90 0 88 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-sit1-op 75 170 50 90 195 105 90 0 0 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-sit1-op2 75 170 103 90 135 105 90 0 0 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-sit1-cl 75 170 103 90 135 105 90 0 85 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-up20 55 170 138 90 135 105 90 0 85 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose ww-sit00 170 170 150 150 105 105 90 0 88 90 90 90 90 90 180 180 80 80 180 180 0 0 90 90 pose ww-up11 49 170 103 90 140 105 90 0 85 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose ww-up12 56 170 99 90 136 105 90 0 85 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose flip-f-stand31 0 0 195 195 90 30 0 0 0 0 90 90 90 90 120 90 165 165 30 30 80 135 90 90 pose flip-f-stand33 0 0 150 195 90 29 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 126 90 90 pose flip-f-stand32 0 0 195 195 90 28 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 126 90 90 pose flip-f-stand34 0 0 150 195 90 29 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 90 90 90 pose t2-up 80 170 154 150 144 90 90 0 100 90 90 114 90 90 180 180 83 83 180 180 0 0 90 90 pose f-lean-l-tf3 180 180 170 170 90 90 0 0 90 90 90 90 75 75 185 170 120 120 75 75 62 62 78 100 pose ss-crb4 180 155 170 170 90 90 0 0 90 90 90 90 90 90 178 180 117 148 68 60 78 63 95 82 pose flip-f-stand3000 0 0 195 195 75 65 0 0 0 0 90 90 90 90 165 190 165 165 30 30 80 80 90 90 pose flip-f-stand3001 0 0 185 195 85 65 0 0 0 0 90 90 90 90 195 80 165 165 30 30 80 80 90 90 pose flip-f-stand3003 0 0 185 195 85 20 0 0 0 0 90 90 90 90 195 75 165 165 30 30 80 80 90 90 pose flip-f-stand3004 0 0 185 195 85 20 0 0 0 0 90 90 90 90 120 75 162 162 30 30 80 80 90 90 pose f-lean-r-tr3 180 180 170 170 90 90 0 0 90 90 90 90 75 75 170 185 120 120 75 75 62 62 100 78 pose flip-f-bow8102 35 35 95 95 200 200 0 0 0 0 90 90 90 90 180 180 235 75 45 0 160 130 90 90 pose flip-f-stand35 0 0 125 195 90 29 0 0 0 0 90 90 90 90 80 90 165 165 30 30 80 90 90 90 pose flip-f-stand40 0 0 180 195 90 29 0 0 0 0 90 90 90 90 80 90 165 165 30 30 80 90 90 90 pose flip-f-stand41 0 0 190 195 90 60 0 0 0 0 90 90 90 90 80 90 165 165 30 30 80 90 90 90 pose flip-f-stand42 0 0 180 180 90 90 0 0 0 0 90 90 90 90 90 90 165 165 30 30 80 90 90 90 pose flip-f-bow810 25 25 90 90 195 195 0 0 0 0 90 90 90 90 180 180 195 75 90 0 145 130 90 90 pose b-8 99 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 88 88 180 180 0 0 90 90 pose b-8-up 91 170 184 150 90 90 90 0 100 90 90 90 90 90 180 180 91 91 180 180 0 0 90 90 pose b17 97 170 190 150 90 90 90 0 100 90 90 90 90 90 180 180 87 87 180 180 0 0 90 90 ****************** Sequence ************************************************************************************************************************* // NAME ****************** State ************************************************************************************************************************* // NAME Steps mode speed pos name //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-reset state reset 10 E 0 RP-reset //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-config state config 1 C 1 RP-config //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-init state init 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-walk-back state leandown 6 E 1 RP-lean state src 12 E 1 RP-src-1 state srlb 12 E 1 RP-srlb state sclb 12 E 1 RP-clb9 state sllb 12 E 2 RP-sllb9d state slc 10 E 2 RP-slc-9 state slrb 12 E 2 RP-slrb state scrb 12 E 1 RP-crb state srrb 12 E 2 RP-srrb9 state src2 14 E 1 RP-src-2 state lean-back 8 E 1 RP-lean state init 6 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence st_right state Dancing1 8 E 0 ss-lean state Dancing2 6 C 1 st-right10 state w1 6 C 1 st-right2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence st_left state Dancing1 8 E 0 ss-lean state Dancing2 6 C 1 st-left10 state w1 6 C 1 st-left2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence hand-open state op1 10 E 1 RP-init-op //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence hand-close state op1 10 E 1 RP-init-cl //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence GB_Kiss state Shake_hands_1 8 E 1 GB_Kiss_1 state Shake_hands_2 8 E 1 GB_Kiss_2 state Shake_hands_3 8 E 1 GB_Kiss_3 state Shake_hands_4 8 E 1 GB_Kiss_4 state Reset 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence no_op state reset 2 W 0 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ss_right1 state Dancing1 8 E 0 ss-lean-r state Dancing2 2 C 0 ss_left2 state w1 20 W 1 ss_left2 state Dancing3 2 C 0 ss-lean-r //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ss_left1 state Dancing1 8 E 0 ss-lean-l state Dancing2 2 C 0 ss_right2 state w1 20 W 1 ss_right2 state Dancing3 2 C 0 ss-lean-l //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence walk-slow-8s state leandown 10 E 0 slow-lean state src0 10 E 0 slow-src1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence walk-slow-8r state srrb 14 E 0 slow-srrb state slrb 12 E 1 slow-slrb3 state slc 10 E 0 slow-slc2 state sllb 14 E 0 slow-sllb state srlb 12 E 1 slow-srlb3 state src2 10 E 0 slow-src4 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence walk-slow-8e state lean-back 10 E 1 slow-lean state init 8 E 0 RP-init-3 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence bow_fwd state arm_rest 10 E 0 arm_rest state bow_fwd 14 E 1 bow_fwd //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-back_up state reset 10 E 0 RP-reset state s1 10 E 0 RP-backup_s1 state s2 10 E 0 lean_dn_sit_b11 state s21 10 E 0 lean_dn_sit_b30 state s3 10 E 0 lean_dn_sit_b13 state s8 4 E 0 lean_dn_sit_b22 state s9 10 E 1 lean_dn_sit_b231 state sitdown 16 E 0 RP-sitdown state wait_04_sec 25 W 1 RP-init state standup 12 E 1 RP-standup state wait_05sec 25 W 1 RP-init state init 6 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-sitdown state sitdown2 20 E 0 RP-sitdown2 state sitdownstr 26 E 0 RP-sitdownstr //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-front_up state reset 10 E 0 RP-reset state ldf1 10 E 1 RP-frontup_ldf1 state ldf2 10 E 1 RP-frontup_ldf2 state ldf3 1 C 0 RP-frontup_ldf3 state ldf5 10 E 1 RP-frontup_ldf47 state ldf6 8 E 2 RP-frontup_ldf48 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-front_up9 state ldf7 16 E 0 RP-frontup_ldf7 state ldf8 16 E 0 RP-frontup_ldf8 state leanback 16 E 0 RP-frontup_leanback state ldf10 8 E 1 RP-frontup_ldf10 state sitdown 16 E 0 RP-sitdown state wait_1_sec 25 W 1 RP-init state standup 12 E 1 RP-standup state w2 25 W 1 RP-init state init 6 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd state sitdown 10 E 1 RP-sitdown state knee 10 E 1 flip-f-knee state bow 10 E 1 flip-f-bow state bow2 10 E 1 flip-f-bow2 state head 14 E 3 flip-f-head state wait_05sec 25 W 0 RP-init state toe 10 E 0 flip-f-toe state hand 10 E 0 flip-f-hand state wait_1sec 50 W 0 RP-init state hand2 10 E 0 flip-f-hand2 state wait_2sec 100 W 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-front_up8 state ldf8 16 E 2 RP-frontup_ldf8 state leanback 16 E 0 RP-frontup_leanback state ldf10 8 E 1 RP-frontup_ldf10 state sitdown 16 E 0 RP-sitdown state wait_1_sec 25 W 1 RP-init state standup 12 E 1 RP-standup state w2 25 W 1 RP-init state init 6 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence twist state p1 10 E 1 slide_ma_3d state p2 8 E 1 twist3 state p3 4 E 1 twist4 state p4 4 E 1 twist3 state p5 4 E 1 twist4 state p6 4 E 1 twist1 state p7 4 E 1 twist2 state p8 4 E 1 twist1 state p9 4 E 1 twist2 state p10 8 E 1 slide_ma_3d state p0 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence bow_back state bow_back 16 E 1 bow_back state arm_rest 16 E 0 arm_rest state init 8 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-stand4 state knee 10 E 1 flip-f-bow-stand01 state w2 25 W 1 RP-init state s3 10 E 0 flip-f-stand30 state s2 10 E 1 flip-f-bow-stand01 state s4 10 E 0 flip-f-stand30 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-twist-last state sitdown 10 E 1 flip-twist-1-120 state knee 10 E 0 flip-twist-2-60 state s1 10 E 1 flip-f-stand30 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-twist state sitdown 10 E 1 flip-twist-1-120 state knee 10 E 0 flip-twist-2-60 state w 25 W 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-walk state leandown 6 E 0 f-lean state scrb 2 C 1 f-lean-l state clb 4 C 0 f-lean-llb state r1 2 W 1 f-lean-llb state src 2 C 1 f-lean-rlb state l1 3 C 1 f-lean-rrb state l2 2 W 1 f-lean-rrb state w 2 C 1 f-lean-lrb2 state l3 3 C 1 f-lean-l5 state w2 1 W 1 f-lean-l state lean2 6 E 1 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break-s state knee 10 E 1 break-60-0 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break-c state s3 0 C 0 break-120-1 state w 3 W 1 RP-init state s2 10 E 0 break-120-2 state s4 12 E 1 break-60-0-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break-turn state s3 0 C 0 break-120-1 state w 3 W 1 RP-init state s2 10 E 0 break-120-2 state s4 10 E 0 break-60-0-turn //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-stand3 state sitdown 10 E 2 flip-ma state w1 16 E 2 flip-ma2 state knee 16 E 2 flip-ma state w2 10 E 1 flip-ma-up state s1 16 E 2 flip-ma-cross-dn state w3 16 E 2 flip-ma-cross-dn1 state s2 16 E 2 flip-ma-up state s3 20 E 2 flip-ma-back2 state s4 16 E 2 flip-ma-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence brk-turn state s3 0 C 0 brk-120-0-1 state w 3 W 1 RP-init state s2 10 E 0 brk-120-0-2 state s4 10 E 0 brk-60-0-turn //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence brk-s state knee 10 E 1 brk-60-0 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence brk-c state s3 0 C 0 brk-120-0-1 state w 3 W 1 RP-init state s2 10 E 0 brk-120-0-2 state s4 12 E 1 brk-60-0-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-standup state sitdown2 18 E 0 RP-sitdown2 state sitdown 10 E 0 RP-sitdown state w1 20 W 1 RP-sitdown state standup 12 E 1 RP-standup state w2 20 W 1 RP-init state init 6 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break-turn2 state s3 0 C 0 break-120-1 state w 3 W 1 RP-init state s2 10 E 0 break-120-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-left2 state s0 10 E 1 flip-f-stand30 state knee 10 E 1 flip-f-bow-stand01 state w4 50 W 1 RP-init state w2 10 E 1 flip-left-dn20 state w1 50 W 1 flip-left-dn20 state s3 10 E 1 flip-left-dn5 state w3 10 E 1 RP-sitdown state w5 50 W 1 RP-init state s2 12 E 1 RP-standup state s4 6 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwsit state w1 20 E 0 ww-sit //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwr-1 state w7 10 E 2 r1-up state w2 20 E 4 r1 state w3 30 E 4 r2 state w4 20 E 2 r3 state w20 20 E 2 r4 state w5 20 E 2 r5 state w1-up 20 E 2 r6 state w1-1 20 E 2 r70 state w6 20 E 2 r7-up state w8 20 E 2 r1-up state w9 20 E 6 r1 state w10 20 E 2 r8 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwr-2 state w7 10 E 2 r9 state w2 20 E 4 r10 state w3 30 E 4 r11 state w4 20 E 2 r12 state w20 20 E 2 r13 state w5 20 E 2 r14 state w1-up 20 E 2 r14-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwo-1 state w7 10 E 4 o1-up2 state w3 20 E 4 o1 state w22 20 E 2 o2 state w4 20 E 2 o3 state w20 20 E 2 o4 state w5 20 E 2 o5 state w1-up 20 E 2 o6 state w1-1 20 E 2 o7 state w2 20 E 4 o70 state w6 20 E 2 o70-up state w8 20 E 4 o1-up2 state w9 20 E 4 o1 state w10 20 E 2 o8 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwo-2 state w7 10 E 2 o9 state w2 20 E 4 o10 state w3 30 E 4 o11 state w4 20 E 2 o12 state w20 20 E 2 o13 state w5 20 E 2 o14 state w8 20 E 2 o140 state w1-up 20 E 2 o15 state w1-1 20 E 2 o15-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwoo-1 state w7 10 E 4 oo1-up state w3 30 E 4 oo1 state w4 20 E 2 oo2 state w20 20 E 2 oo3 state w5 20 E 2 oo4 state w1-up 20 E 2 oo5 state w1-1 20 E 2 oo6 state w2 20 E 4 oo7 state w6 20 E 2 oo8 state w8 20 E 2 oo8-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwb-2 state w0 20 E 6 b-1-up state w1 20 E 4 b-1 state w7 20 E 2 b9 state w2 20 E 4 b10 state w3 30 E 4 b11 state w20 20 E 2 b13 state w1-up 20 E 2 b14 state w1-1 20 E 2 b15 state w16 20 E 2 b16 state w18 20 E 2 b18 state w19 20 E 2 b18-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ww-setup-reset state w4 20 E 0 ww-sit1-op2 state w22 20 E 0 ww-sit1-op state w3 20 E 0 ww-sit1 state w7 20 E 0 ww-sit0 state w8 20 E 0 ww-sit00 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ww-start state w1 20 E 0 ww-sit00 state w7 20 E 0 ww-sit0 state w3 20 E 0 ww-sit1 state w22 20 E 0 ww-sit1-op state w4 20 E 1 ww-sit1-op2 state w20 20 E 2 ww-sit1-cl state w5 20 E 2 ww-up11 state w1-up 20 E 2 ww-up20 state w2 20 E 2 ww-sit //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ww-setup-s state w1 20 E 0 ww-sit00 state w7 20 E 0 ww-sit0 state w3 20 E 0 ww-sit1 state w22 20 E 0 ww-sit1-op state w4 20 E 0 ww-sit1-op2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-tf state leandown 6 E 0 f-lean state scrb 2 C 1 f-lean-r state clb 4 C 0 f-lean-r-tf2 state r1 1 W 1 f-lean-r-tf state src 3 C 1 f-lean-l-tf3 state r2 6 C 0 f-lean-l-tf2 state l1 4 W 1 f-lean-l-tf2 state lean2 8 E 0 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ss_walk_b state leandown 8 E 0 ss-lean state src1 6 E 0 ss-src state srlb 8 E 1 ss-srlb2 state clb 6 E 0 ss-clb3 state srrb 6 E 1 ss-slc state sllb 8 E 1 ss-slrb2 state scrb 6 E 0 ss-crb4 state src 6 E 1 ss-src state lean2 8 E 0 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-mr state leandown 6 E 0 f-lean state scrb 3 C 1 f-lean-l state clb 4 C 1 f-lean-l-m2 state r1 1 W 1 f-lean-r state src 2 C 1 f-lean-r state r2 2 W 1 f-lean-l state l1 6 E 1 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-mf state leandown 6 E 0 f-lean state scrb 3 C 1 f-lean-r state clb 4 C 1 f-lean-r-m2 state r1 1 W 1 f-lean-r-m2 state src 2 C 1 f-lean-l state r2 2 W 1 f-lean-l state l1 6 E 1 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-walk-b state leandown 6 E 0 f-lean state scrb 3 C 1 f-lean-l state w 2 C 1 f-lean-lrb state l2 4 W 1 f-lean-rrb state l1 3 C 1 f-lean-rrb state r2 4 C 1 f-lean-r state src 3 C 1 f-lean-rlb state r1 4 W 1 f-lean-llb state clb 3 C 1 f-lean-llb state l3 4 C 1 f-lean-l state w2 4 W 1 f-lean-l state lean2 12 E 0 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-one-hand2 state knee 10 E 1 flip-f-bow-stand01 state w2 25 W 1 RP-init state s3 10 E 0 flip-f-stand3000 state w3 50 W 1 RP-init state s2 2 C 0 flip-f-stand3001 state s5 15 W 1 RP-init state s4 6 E 0 flip-f-stand3003 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-tr state leandown 6 E 0 f-lean state scrb 2 C 1 f-lean-l state clb 4 C 0 f-lean-l-tr2 state r1 1 W 1 f-lean-l-tr2 state src 3 C 1 f-lean-r-tr3 state r2 6 C 0 f-lean-r-tr2 state l1 4 W 1 f-lean-r-tr2 state lean2 8 E 0 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-stand2 state sitdown 10 E 1 RP-sitdown state knee 16 E 1 flip-f-knee state bow 10 E 1 flip-f-bow state head 10 E 1 flip-f-bow3 state wait_05sec 10 E 1 flip-f-bow400 state hand2 8 E 0 flip-f-bow8102 state w2 50 W 1 RP-init state wait_2sec 6 E 1 flip-f-bow8200 state w3 50 W 1 RP-init state s1 10 E 1 flip-f-bow8310 state w4 50 W 1 RP-init state s2 10 E 2 flip-f-bow-stand01 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-one-hand-a state s2 12 E 2 flip-f-stand35 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-one-hand-back state knee 10 E 2 flip-f-stand40 state w4 50 W 1 RP-init state w2 10 E 2 flip-f-stand41 state w1 50 W 1 RP-init state s3 10 E 2 flip-f-stand42 state s4 10 E 0 flip-f-stand30 state s5 10 E 1 flip-f-bow-stand01 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-fwd-backup state r1 10 E 1 flip-f-bow-stand01 state s1 10 E 1 flip-f-bow8310 state wait_2sec 10 E 1 flip-f-bow8200 state hand2 8 E 0 flip-f-bow810 state hand 10 E 1 flip-f-bow6 state wait_05sec 10 E 2 flip-f-bow4 state head 10 E 1 flip-f-bow3 state bow 10 E 1 flip-f-bow state bowup 20 E 1 flip-f-bow10 state t1 10 E 1 flip-f-bow100 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence flip-one-hand state knee 20 E 2 flip-f-stand3004 state w4 50 W 1 RP-init state w2 10 E 2 flip-f-stand31 state w1 50 W 1 RP-init state s3 10 E 2 flip-f-stand32 state w3 10 E 2 flip-f-stand33 state w5 50 W 1 RP-init state s2 12 E 2 flip-f-stand34 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwoo-2 state w0 20 E 2 oo1-up state w1 30 E 6 oo1 state w7 10 E 2 oo9 state w2 20 E 4 oo10 state w3 30 E 4 oo11 state w4 20 E 2 oo12 state w20 20 E 2 oo13 state w5 20 E 2 oo14 state w8 20 E 2 oo15 state w6 20 E 2 oo16 state w1-1 20 E 2 oo17 state w10 20 E 2 oo17-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwb-1 state w7 10 E 4 b-1-up state w3 30 E 4 b-1 state w4 20 E 2 b-2 state w20 20 E 2 b-3 state w5 20 E 2 b-4 state w1-up 20 E 2 b-5 state w1-1 20 E 2 b-6 state w2 20 E 4 b-7 state w9 20 E 2 b-8 state w8 20 E 2 b-8-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wwt-1 state w7 10 E 4 t1-up state w3 30 E 4 t1 state w4 20 E 2 t2 state w1 20 E 2 t2-up state w10 20 E 2 oo17-up state w11 20 E 4 t3-up state w20 20 E 6 t3 state s1 25 W 1 t3 state w5 20 E 2 t4 state w1-up 20 E 2 t5 state w1-1 20 E 2 t6 state w2 20 E 4 t7 state w6 20 E 2 t8 state w8 20 E 2 t9 state w9 20 E 2 t9-up //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ww-end state w1-up 20 E 2 ww-up20 state w5 20 E 2 ww-up11 state w6 20 E 2 ww-up12 state w20 20 E 6 ww-sit1-cl state w4 20 E 0 ww-sit1-op2 state w22 20 E 0 ww-sit1-op state w3 20 E 0 ww-sit1 state w7 20 E 0 ww-sit0 state w2 20 E 0 ww-sit00 //------------------------------------------------------------------------------------------------------------------------------------------------ ****************** Routine **************************************************************************************************************************** // NAME Sequence name //------------------------------------------------------------------------------------------------------------------------------------------------ Routine no_op no_op Routine RP-config RP-config Routine RP-back_up RP-back_up Routine RP-sitdown RP-sitdown Routine RP-standup RP-standup Routine RP-init RP-init Routine RP-walk-back RP-walk-back Routine kiss GB_Kiss Routine st_right st_right Routine st_left st_left Routine ss_walk_b ss_walk_b Routine RP-front_up RP-front_up RP-front_up9 Routine ss_right ss_right1 Routine ss_left ss_left1 Routine walk-slow-8 walk-slow-8s walk-slow-8r walk-slow-8e Routine bow_fb bow_fwd bow_back Routine twist twist Routine flip-fwd-backup flip-fwd-backup RP-front_up8 Routine flip-fwd-stand flip-fwd-stand4 Routine flip-left flip-left2 Routine flip-fwd-h-stand flip-fwd-stand2 Routine flip-fwd-h-stand3 flip-fwd-stand3 Routine f-swing-walk f-swing-walk Routine f-swing-walk-b f-swing-walk-b Routine f-swing-mf f-swing-2-1-mf Routine f-swing-mr f-swing-2-1-mr Routine f-swing-tf f-swing-2-1-tf Routine f-swing-tr f-swing-2-1-tr Routine show flip-fwd-stand2 flip-fwd-stand4 flip-fwd-stand3 flip-fwd-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist-last flip-left2 twist bow_fwd bow_back GB_Kiss Routine fliip-twist-1 flip-fwd-twist Routine brk brk-s brk-c brk-c brk-c brk-c brk-turn Routine break break-s break-c break-c break-c break-c break-turn2 Routine break2 break-s break-c break-c break-c break-s Routine ww-start ww-start Routine ww-setup-reset ww-setup-reset Routine ww-setup-start ww-setup-s Routine ww-end ww-end Routine wwrobot wwsit wwr-1 wwr-2 wwo-1 wwo-2 wwb-1 wwb-2 wwoo-1 wwoo-2 wwt-1 Routine flip-one-hand2 flip-one-hand2 Routine flip-one-hand flip-one-hand Routine flip-one-hand-a flip-one-hand-a Routine flip-one-hand-back flip-one-hand-back ****************** Key ************************ do not change the key definition order ********************************************************* // NAME Routine name //------------------------------------------------------------------------------------------------------------------------------------------------ key KEY_1 f-swing-walk key KEY_2 st_right key KEY_3 ss_right key KEY_4 st_right key KEY_5 ss_walk_b key KEY_6 st_left key KEY_7 ss_left key KEY_8 st_left key KEY_9 f-swing-walk key KEY_10 st_right key KEY_11 ss_right key KEY_12 st_right key KEY_13 ss_walk_b key KEY_14 st_left key KEY_15 ss_left key KEY_16 st_left key KEY_17 no_op key KEY_18 no_op key KEY_19 no_op key KEY_20 flip-fwd-h-stand key KEY_21 flip-fwd-stand key KEY_22 flip-fwd-h-stand3 key KEY_23 break key KEY_24 fliip-twist-1 key KEY_25 flip-left key KEY_26 twist key KEY_27 bow_fb key KEY_28 kiss key KEY_29 RP-front_up key KEY_30 RP-back_up key KEY_31 no_op key KEY_32 no_op key KEY_33 no_op key KEY_34 no_op key KEY_35 no_op key KEY_36 RP-sitdown key KEY_37 no_op key KEY_38 no_op key KEY_39 no_op key KEY_40 no_op key KEY_41 no_op key KEY_42 RP-standup key KEY_43 RP-front_up key KEY_44 RP-back_up key KEY_45 no_op key KEY_46 no_op key KEY_47 no_op key KEY_48 RP-sitdown key KEY_49 no_op key KEY_50 RP-sitdown key KEY_51 no_op key KEY_52 no_op key KEY_53 no_op key KEY_54 RP-sitdown key KEY_55 no_op key KEY_56 RP-standup key KEY_57 RP-front_up key KEY_58 RP-back_up key KEY_59 no_op key KEY_60 no_op key KEY_61 no_op key KEY_62 no_op key KEY_63 no_op key KEY_64 RP-sitdown key KEY_65 no_op key KEY_66 no_op key KEY_67 no_op key KEY_68 no_op key KEY_69 no_op key KEY_70 RP-standup key KEY_71 RP-front_up key KEY_72 RP-back_up key KEY_73 walk-slow-8 key KEY_74 no_op key KEY_75 no_op key KEY_76 no_op key KEY_77 RP-walk-back key KEY_78 no_op key KEY_79 no_op key KEY_80 no_op key KEY_81 no_op key KEY_82 no_op key KEY_83 no_op key KEY_84 flip-fwd-h-stand key KEY_85 flip-fwd-stand key KEY_86 flip-fwd-h-stand3 key KEY_87 break2 key KEY_88 fliip-twist-1 key KEY_89 flip-left key KEY_90 ww-setup-start key KEY_91 ww-setup-reset key KEY_92 ww-setup-reset key KEY_93 RP-front_up key KEY_94 RP-back_up key KEY_95 no_op key KEY_96 no_op key KEY_97 no_op key KEY_98 no_op key KEY_99 no_op key KEY_NW f-swing-tf key KEY_N f-swing-walk key KEY_NE f-swing-tr key KEY_W ss_left key KEY_E ss_right key KEY_S f-swing-walk-b key KEY_FRONT_UP f-swing-tr key KEY_FRONT_DOWN f-swing-tf key KEY_BACK_UP no_op key KEY_BACK_DOWN no_op key REMOTE_KEY_1 no_op key REMOTE_KEY_2 flip-fwd-h-stand key REMOTE_KEY_3 flip-one-hand2 key REMOTE_KEY_4 flip-one-hand key REMOTE_KEY_5 flip-one-hand-a key REMOTE_KEY_6 flip-one-hand-back key REMOTE_KEY_7 flip-fwd-backup key REMOTE_KEY_8 ww-start key REMOTE_KEY_9 wwrobot key REMOTE_KEY_10 ww-end key REMOTE_KEY_11 RP-front_up key REMOTE_KEY_12 RP-back_up