****************** 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 17 128 105 55 servo HEAD 90 19 26 130 43 servo LLT 90 0 144 100 65 servo LHIP 180 22 139 195 75 servo LLEG 146 18 132 250 63 servo LKNEE 30 8 132 180 0 servo LANKLE 90 7 131 195 0 servo LFOOT 90 22 131 120 60 servo RSHOULDER 180 20 128 200 0 servo RARM 175 12 125 197 0 servo RELBOW 90 17 128 202 0 servo RWRIST 0 25 135 160 0 servo RHAND 90 1 136 105 55 servo WAIST 90 19 130 150 25 servo RLT 90 84 148 100 65 servo RHIP 180 0 135 195 75 servo LSHOULDER 180 12 126 200 0 servo LARM 175 9 124 200 0 servo LELBOW 90 8 127 200 0 servo LWRIST 0 59 139 150 0 servo RFOOT 90 8 131 120 60 servo RANKLE 90 2 128 187 0 servo RKNEE 30 17 131 180 0 servo RLEG 146 28 133 250 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 180 180 177 177 90 90 0 0 90 90 90 90 90 90 180 180 144 144 30 30 90 90 90 90 pose RP-init-op 252 252 252 252 252 252 252 252 60 60 252 252 252 252 252 252 252 252 252 252 252 252 252 252 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 90 180 180 128 128 75 75 60 60 90 90 pose RP-standup 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 126 126 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 85 85 170 170 0 0 90 90 pose RP-sitdownstr 95 140 180 179 153 160 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 5 5 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 10 10 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_ldf4 90 90 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_ldf5 90 90 30 30 200 200 0 0 90 90 90 90 90 90 180 180 132 132 40 40 0 0 90 90 pose RP-frontup_ldf6 90 90 135 135 160 160 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-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 RP-backup_s2 170 170 170 170 90 90 0 0 90 90 90 90 90 90 180 180 230 230 150 150 3 3 90 90 pose RP-backup_s3 180 180 90 90 90 90 0 0 90 90 90 90 90 90 180 180 230 230 150 150 3 3 90 90 pose RP-backup_s4 90 90 90 90 90 90 0 0 90 90 90 90 90 90 180 180 230 230 150 150 3 3 90 90 pose RP-backup_s7 60 60 10 10 90 90 0 0 90 90 90 90 90 90 180 180 140 140 180 180 3 3 90 90 pose RP-backup_s8 40 40 10 10 90 90 0 0 90 90 90 55 90 90 180 180 100 100 180 180 3 3 90 90 pose RP-backup_s9 40 40 10 10 90 90 0 0 90 90 90 90 90 90 180 180 80 80 180 180 3 3 90 90 pose RP-move_srml 180 180 160 170 90 90 0 0 90 90 90 90 90 90 147 195 128 128 75 75 60 62 127 77 pose RP-move_slmr 180 180 170 160 90 90 0 0 90 90 90 90 90 90 195 147 124 124 75 75 62 60 77 127 pose RP-sr_turn 180 180 170 150 90 90 0 0 90 90 90 90 90 90 162 190 124 146 75 30 65 90 105 74 pose RP-sl_turn 180 180 175 175 90 90 0 0 90 90 90 90 90 90 190 162 144 128 30 75 90 65 76 95 pose RP-move_slml 180 180 170 170 90 90 0 0 90 90 90 90 90 90 195 147 124 124 75 75 62 60 77 128 pose RP-move_srmr 180 180 170 170 90 90 0 0 90 90 90 90 90 90 147 195 128 128 75 75 60 62 128 77 pose RP-front_rest 180 180 180 180 90 90 0 0 90 90 90 90 90 90 180 180 146 146 30 30 135 135 90 90 pose RP-c_tl_30 180 180 175 180 90 90 0 0 90 90 90 90 75 75 180 180 144 144 30 30 90 90 94 94 pose RP-sl_lt_30 180 180 155 170 90 90 0 0 90 90 90 90 75 75 190 162 140 120 30 75 87 70 77 95 pose RP-c_tr_30 180 180 175 175 90 90 0 0 90 90 90 90 75 75 180 180 144 144 30 30 90 90 94 94 pose RP-sr_tr_30 180 180 170 160 90 90 0 0 90 90 90 90 75 75 162 195 120 138 75 30 59 87 90 76 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-sllb 140 180 170 170 90 90 0 0 90 90 90 90 90 90 190 166 141 93 80 100 52 78 75 100 pose RP-clb 140 180 170 170 90 90 0 0 90 90 90 90 90 90 177 183 175 116 45 105 50 50 93 87 pose RP-lean-back 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 132 132 75 75 60 60 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 RP-slc-1 180 180 170 170 90 90 0 0 90 90 90 90 90 90 190 162 126 122 75 95 60 50 75 104 pose GB_Kiss_1 180 65 165 160 90 185 0 0 90 90 70 110 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_2 180 65 165 130 90 170 0 0 90 90 70 110 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_3 180 65 165 160 90 185 0 0 90 90 90 90 90 90 180 180 144 144 30 30 90 90 90 90 pose GB_Kiss_4 180 65 165 150 90 170 0 0 90 90 90 90 90 90 180 180 144 144 30 30 90 90 90 90 pose lean 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 132 132 75 75 60 60 90 90 pose flip-f-knee 90 90 170 170 90 90 0 0 90 90 90 90 90 90 180 180 70 70 135 135 0 0 90 90 pose leanfwd 120 120 180 180 90 90 0 0 90 90 90 90 90 90 180 180 70 70 150 150 0 0 90 90 pose pushup 90 90 175 175 90 90 0 0 90 90 90 90 90 90 180 180 132 132 40 40 10 10 90 90 pose kick_slrb 180 180 170 170 90 90 0 0 90 90 90 90 90 90 195 162 130 152 75 63 60 49 75 109 pose kick_slrb2 150 150 170 150 90 90 0 0 90 90 90 90 90 90 195 162 122 192 75 78 60 32 75 109 pose kick_slrb3 180 180 170 150 90 90 0 0 90 90 90 90 90 90 195 162 134 102 60 98 73 44 75 105 pose slide_ma_start 90 90 90 90 150 150 0 0 90 90 90 90 90 70 180 170 114 195 106 3 49 73 90 105 pose bow_fwd 115 115 180 179 155 170 0 0 90 90 90 90 90 90 180 180 85 85 60 60 90 90 90 90 pose bow_back 115 115 180 179 155 170 0 0 90 90 90 90 90 90 180 180 130 130 40 40 90 90 90 90 pose RP-src-5 180 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 132 137 95 75 40 55 104 75 pose q-srrb9c 180 140 170 170 90 90 0 0 90 90 90 90 90 90 167 190 87 150 112 80 66 52 100 75 pose q-scrb-c 180 140 170 170 90 90 0 0 90 90 90 90 90 90 180 180 117 181 105 45 50 48 90 90 pose src-c 100 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 132 132 75 75 60 60 104 75 pose q-slc10 180 180 170 170 90 90 0 0 90 90 90 90 90 90 190 162 148 135 75 95 50 40 75 104 pose q-slrb11c 180 150 170 170 90 90 0 0 90 90 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 90 90 90 90 90 90 165 195 181 110 45 105 46 46 109 75 pose RP-src-6 180 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 132 140 95 75 40 55 104 75 pose kick_left1 90 90 90 90 200 90 0 0 90 90 120 90 90 90 147 195 128 128 75 75 60 64 120 73 pose kick_left13 90 90 90 90 200 90 0 0 90 90 120 90 90 90 97 175 90 130 155 75 60 62 120 70 pose kick_left14 90 90 90 90 200 90 0 0 90 90 120 90 90 90 97 175 160 128 30 75 60 62 120 70 pose slide_ma3 60 60 90 90 90 90 0 0 90 90 90 90 90 70 180 170 95 175 115 23 59 58 90 105 pose fly_fwd1 0 0 180 180 125 125 0 0 90 90 90 90 90 90 180 180 100 100 90 90 15 15 90 90 pose fly_fwd0 90 90 160 160 160 160 0 0 90 90 90 90 90 90 180 180 100 100 160 160 15 15 90 90 pose fly_fwd2 0 0 180 180 110 110 0 0 90 90 90 90 90 90 180 180 120 120 90 90 90 90 90 90 pose fly_fwd3 0 0 90 90 90 90 0 0 90 90 90 90 90 90 180 180 120 120 90 90 90 90 90 90 pose fly_fwd4 180 180 90 90 90 90 0 0 90 90 90 90 90 90 180 180 120 120 90 90 90 90 90 90 pose fly_bwd1 0 0 180 180 125 125 0 0 90 90 90 90 90 90 180 180 100 100 100 100 135 135 90 90 pose RP-srrb9 180 140 165 170 90 90 0 0 90 90 90 90 90 90 163 190 97 142 112 80 66 55 100 75 pose RP-sllb9 140 180 170 170 90 90 0 0 90 90 90 90 90 90 190 166 141 96 80 100 54 73 77 100 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-9 180 180 165 165 90 90 0 0 90 90 90 90 90 90 190 162 131 122 75 95 60 50 75 104 pose slide_ma29 180 180 160 160 90 90 0 0 90 90 90 90 90 70 180 170 110 185 115 28 49 48 85 110 pose lean_h_r4 180 180 125 75 90 105 0 0 90 90 60 90 90 90 135 195 110 105 145 150 15 15 90 85 pose lean_h_l4 180 180 75 125 105 90 0 0 90 90 120 90 90 90 195 135 105 110 150 145 15 15 85 90 pose kick_left_h79 180 180 0 150 180 90 0 0 90 90 120 90 90 90 180 180 98 98 150 150 15 15 90 90 pose kick_right_h79 180 180 150 0 90 180 0 0 90 90 60 90 90 90 180 180 98 98 150 150 15 15 90 90 pose HIT_LR_RL_M0 150 150 170 170 90 90 0 0 90 90 90 90 90 90 180 180 92 92 170 170 0 0 90 90 pose HIT_LL_M2 180 150 170 170 90 90 0 0 90 90 90 60 90 90 180 180 90 90 180 180 0 0 90 90 pose HIT_LL_M3 180 150 90 170 90 90 0 0 90 90 90 60 90 90 180 180 90 90 180 180 0 0 90 90 pose HIT_LC_H10 0 180 180 160 110 90 0 0 90 90 120 110 90 70 180 170 110 185 115 28 49 58 90 105 pose HIT_LC_H11 0 180 0 165 125 90 0 0 90 90 120 110 90 70 180 170 110 185 115 28 49 58 90 100 pose HIT_RC_H10 180 10 170 180 90 110 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose HIT_RC_H11 180 10 165 10 90 125 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose HIT_LL_M40 90 90 70 170 90 90 0 0 90 90 90 60 90 90 180 180 90 90 180 180 0 0 90 90 pose HIT_LL_M50 60 90 200 0 90 90 0 0 90 90 90 120 90 90 180 180 80 80 170 170 0 0 90 90 pose ss_left1 180 180 170 170 90 90 0 0 90 90 90 90 90 90 165 180 130 130 75 75 60 60 90 92 pose ss_right1 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 165 130 130 75 75 60 60 92 90 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 RP-srrb10 180 140 170 170 90 90 0 0 90 90 90 90 90 90 167 190 105 142 98 80 67 55 100 75 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 slide_ma313 70 120 180 190 165 160 0 0 90 90 90 90 90 70 180 170 130 190 100 28 49 63 90 105 pose pn1 180 90 165 165 0 0 100 100 90 90 90 90 90 70 180 170 124 205 106 3 49 64 90 105 pose pn2 90 180 165 165 0 0 100 100 90 90 90 90 90 70 180 170 124 205 106 3 49 64 90 105 pose pnfwd1 110 120 170 170 0 0 120 120 90 90 90 60 90 70 180 170 124 205 106 3 49 64 90 105 pose pnfwd2 80 195 195 160 80 90 90 120 90 90 90 120 90 70 180 170 124 190 106 3 49 64 90 105 pose pn0 110 120 170 170 0 0 120 120 90 90 90 90 90 70 180 170 124 205 106 3 49 64 90 105 pose pnfwd4 190 75 150 185 90 90 120 90 90 90 90 65 90 70 180 170 119 185 106 3 54 69 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 slide_ma_dn_cc1 70 120 190 190 175 175 0 0 90 90 90 90 90 70 180 170 104 223 180 54 0 5 90 100 pose slide_ma_tr 170 150 160 160 90 90 0 0 90 90 90 90 70 90 170 180 205 124 3 106 69 49 105 90 pose slide_ma_tl 150 170 160 160 90 90 0 0 90 90 90 90 90 70 180 170 119 198 106 3 49 64 90 105 pose slide_ma_m_l1 180 105 165 190 90 165 90 0 90 90 90 60 90 70 180 170 120 190 100 28 49 63 90 105 pose slide_ma_m_l2 180 105 160 90 90 120 90 0 90 90 90 120 90 70 180 170 125 190 100 28 49 63 90 105 pose slide_ma_m_r1 60 180 175 170 170 90 0 90 90 90 90 120 70 90 170 180 205 124 3 106 69 49 105 90 pose slide_ma_m_r2 60 170 90 170 90 90 0 90 90 90 90 60 70 90 170 180 205 124 3 106 69 49 105 90 pose lean_rl 150 150 170 170 90 90 0 0 90 90 90 90 90 90 180 180 140 100 93 105 32 60 90 90 pose lean_rl_r1 150 195 170 180 90 90 0 0 90 90 70 120 90 90 180 180 145 105 93 105 32 60 90 90 pose lean_dn_rl 150 150 170 170 90 90 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 90 90 pose lean_dn_rl1 70 115 170 135 0 175 90 0 90 90 90 60 90 90 180 180 240 105 15 180 20 0 90 90 pose lean_dn_rl2 70 115 170 20 0 120 90 0 90 90 90 120 90 90 180 180 240 105 15 180 20 0 90 90 pose lean_dn_rl_c1 140 0 170 180 90 90 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 90 90 pose lean_dn_rl_c2 140 0 170 65 90 145 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 90 90 pose lean_dn_rl_c3 140 0 170 90 90 90 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 90 90 pose magar1 90 180 170 170 90 90 150 150 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar2 90 90 170 170 90 90 150 150 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar3 90 90 170 170 90 90 90 150 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar4 90 90 170 170 90 90 90 90 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar5 105 90 210 170 0 90 145 90 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar6 105 105 210 185 0 25 145 145 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar7 75 105 210 185 0 25 105 145 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar8 75 75 210 190 0 0 105 105 90 90 90 90 90 90 180 180 142 142 75 75 60 60 90 90 pose magar10 175 175 125 125 0 0 150 150 90 90 90 90 90 90 180 180 132 132 75 75 60 60 90 90 pose magar11 175 175 130 130 0 0 150 150 90 90 90 90 90 90 180 180 142 142 60 60 60 60 90 90 pose magar12 175 175 130 130 0 0 150 150 90 90 90 90 90 90 180 180 122 122 85 85 60 60 90 90 pose magar91 120 75 195 190 150 0 35 105 90 90 90 90 90 90 180 180 137 137 75 75 60 60 90 90 pose magar93 110 175 195 125 155 0 35 150 90 90 90 90 90 90 180 180 137 137 75 75 60 60 90 90 pose magar92 120 105 195 190 165 150 35 35 90 90 90 90 90 90 180 180 137 137 75 75 60 60 90 90 pose lean_rl_l1 150 90 170 180 90 175 0 0 90 90 70 60 90 90 180 180 140 105 93 105 32 60 90 90 pose lean_rl_l2 150 100 170 10 90 110 0 0 90 90 70 120 90 90 180 180 140 100 93 105 32 60 90 90 pose lean_rl_r4 150 90 90 90 90 90 0 0 90 90 70 120 100 70 180 180 220 85 5 50 50 140 90 95 pose lean_rl_r40 150 90 170 90 90 90 0 0 90 90 70 120 90 70 170 170 145 90 93 105 32 65 100 100 pose pnfwd3 140 180 160 160 0 0 120 90 90 90 90 110 90 70 180 170 124 205 106 3 49 64 90 105 pose side_right 170 0 160 180 90 110 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose side_right2 170 0 160 45 90 130 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose side_right3 170 0 160 90 90 90 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose side_left 0 170 180 160 110 90 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose side_left2 0 170 45 160 130 90 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose side_left3 0 170 100 160 90 90 0 0 90 90 90 90 90 70 180 170 130 175 100 28 49 63 90 105 pose lean_rl_r52 150 45 90 140 90 180 0 0 90 90 70 60 90 70 180 180 220 85 5 50 50 140 100 95 pose HIT_RC_H12 180 10 165 10 90 180 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose HIT_RC_H13 180 10 165 50 90 180 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose HIT_RC_H14 180 10 165 90 90 90 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose HIT_RC_H15 180 180 165 165 90 90 0 0 90 90 60 85 70 90 170 180 205 124 3 106 69 49 105 90 pose wave1 135 100 160 160 0 60 135 115 90 90 90 90 70 90 170 180 205 124 3 106 69 49 105 90 pose wave2 135 150 160 160 0 90 135 115 90 90 90 90 70 90 170 180 205 124 3 106 69 49 105 90 pose wave3 135 100 160 160 0 60 135 115 90 90 90 70 70 90 170 180 205 124 3 106 69 49 105 90 pose twist1 0 0 165 165 90 90 100 100 90 90 90 90 90 70 180 170 120 195 106 3 49 64 90 105 pose twist2 0 0 165 165 90 90 100 100 60 60 90 90 90 70 180 170 120 195 106 3 49 64 90 105 pose twist3 0 0 165 165 90 90 0 0 60 60 90 90 90 70 180 170 120 195 106 3 49 64 90 105 pose twist4 0 0 165 165 90 90 150 150 60 60 90 90 90 70 180 170 120 195 106 3 49 64 90 105 pose lean_rl_r6 150 90 90 70 90 90 0 0 90 90 70 120 100 70 160 160 235 100 5 50 30 140 115 115 pose lean_rl_r7 150 45 90 155 90 150 0 0 90 90 70 60 90 70 160 160 235 100 5 50 30 140 115 115 pose step-slrb 90 90 160 160 90 90 0 0 90 90 90 90 90 90 185 170 80 185 160 55 25 35 80 100 pose step-slrb-up 140 140 160 160 90 90 0 0 90 90 90 90 90 90 185 170 125 185 75 55 62 65 77 100 pose step-slrb-up2 130 130 160 160 90 90 0 0 90 90 90 90 90 90 185 170 146 185 30 55 90 65 75 100 pose step-slrb-up3 165 165 160 160 90 90 0 0 90 90 90 90 90 90 185 160 146 115 30 110 90 30 76 100 pose step-src-up 160 160 160 135 90 90 0 0 90 90 90 90 90 90 165 185 80 130 170 75 10 65 93 77 pose step-lean 140 140 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 90 pose step-crb1 180 180 160 160 90 90 0 0 90 90 90 90 90 90 180 180 80 185 160 55 25 45 85 80 pose step-src1 140 140 170 170 90 90 0 0 90 90 90 90 90 90 170 180 130 130 75 75 60 60 100 80 pose lean_rl_r41 150 180 170 90 90 90 0 0 90 90 70 120 90 90 180 180 145 90 93 105 32 60 90 90 pose lean_lr 150 150 170 170 90 90 0 0 90 90 90 90 90 90 180 180 100 140 105 93 60 32 90 90 pose lean_lr_l1 90 150 180 170 165 90 0 0 90 90 110 120 90 90 180 180 105 145 105 93 60 32 90 90 pose lean_lr_r1 195 150 180 170 90 90 0 0 90 90 110 60 90 90 180 180 105 145 105 93 60 32 90 90 pose lean_lr_r41 180 150 90 170 90 90 0 0 90 90 110 60 90 90 180 180 90 145 105 93 60 32 90 90 pose lean_lr_r40 90 150 90 170 90 90 0 0 90 90 110 60 70 90 170 170 90 145 105 93 65 32 100 100 pose lean_lr_r6 90 150 70 90 90 90 0 0 90 90 110 60 70 100 160 160 100 235 50 5 140 30 115 115 pose lean_lr_r7 45 150 155 90 150 90 0 0 90 90 110 120 70 90 160 160 100 235 50 5 140 30 115 115 pose lean_lr_r4 90 150 90 90 90 90 0 0 90 90 110 60 70 100 180 180 85 220 50 5 140 50 95 85 pose lean_lr_l2 100 150 10 170 110 90 0 0 90 90 110 60 90 90 180 180 105 145 105 93 60 32 90 90 pose HIT_LC_H12 10 180 10 165 180 90 0 0 90 90 120 95 90 70 180 170 114 195 106 3 49 69 90 105 pose HIT_LC_H13 10 180 50 165 180 90 0 0 90 90 120 90 90 70 180 170 114 195 106 3 49 69 90 105 pose HIT_LC_H14 10 180 90 165 90 90 0 0 90 90 120 90 90 70 180 170 114 195 106 3 49 69 90 105 pose HIT_LC_H15 180 180 160 165 90 90 0 0 90 90 120 95 90 70 180 170 114 195 106 3 49 69 90 105 pose lean_dn_rl_l1 125 135 170 0 170 90 0 0 90 90 70 120 90 90 180 180 225 115 30 180 180 0 90 90 pose lean_dn_rl_up 155 115 170 170 90 90 0 0 90 90 70 90 90 90 180 180 240 85 15 180 90 0 90 90 pose lean_dn_rl_up1 165 145 170 170 90 90 0 0 90 90 70 90 90 90 180 180 215 105 30 180 180 0 90 90 pose lean_dn_lr_up 115 160 170 170 90 90 0 0 90 90 110 90 90 90 180 180 85 240 180 15 0 90 90 90 pose lean_dn_lr_up1 145 180 170 175 90 90 0 0 90 90 110 90 90 90 180 180 105 215 180 30 0 180 90 90 pose lean_dn_lr_r1 135 125 0 170 90 170 0 0 90 90 110 60 90 90 180 180 115 225 180 30 0 180 90 90 pose lean_dn_lr 150 150 170 170 90 90 0 0 90 90 110 90 90 90 180 180 105 240 180 15 0 20 90 90 pose lean_dn_rl_l2 125 140 170 0 170 20 0 0 90 90 70 120 90 90 180 180 225 115 30 180 180 0 90 90 pose lean_dn_lr_r2 135 125 0 170 15 170 0 0 90 90 110 60 90 90 180 180 115 225 180 30 0 180 90 90 pose lean_dn_rl_h1 135 180 0 0 30 35 0 0 90 90 70 90 90 90 180 180 225 85 15 180 20 0 90 90 pose lean_dn_rl_h2 95 135 0 0 30 35 0 0 90 90 70 90 90 90 180 180 225 85 15 180 20 0 90 90 pose lean_dn_rl_h3 120 135 60 60 90 90 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 90 90 pose RP-frontup_ldf71 90 90 170 170 0 0 0 0 90 90 90 90 90 90 180 180 75 75 120 120 0 0 90 90 pose RP-frontup_ldf41 90 90 140 140 0 0 0 0 90 90 90 90 90 90 180 180 132 132 40 40 0 0 90 90 pose lean_rl_r70 150 45 90 155 90 150 0 0 90 90 70 60 90 70 160 160 235 100 5 50 30 140 115 115 pose lean_lr_r70 45 150 155 90 90 90 0 0 90 90 110 120 70 90 160 160 100 235 50 5 140 30 115 115 pose lean_rl_l3 150 100 170 30 90 180 0 0 90 90 70 120 90 90 180 180 145 105 93 105 32 60 90 90 pose lean_rl_l4 150 100 170 30 90 0 0 0 90 90 70 120 90 90 180 180 145 105 93 105 32 60 90 90 pose RP-backup_s41 90 90 90 90 50 50 0 0 90 90 90 90 90 90 180 180 230 230 150 150 3 3 90 90 pose RP-backup_s71 60 60 10 10 50 50 0 0 90 90 90 90 90 90 180 180 140 140 180 180 3 3 90 90 pose slide_ma_4 70 150 180 170 165 90 0 0 90 90 90 90 90 70 180 170 130 190 100 28 49 63 90 105 pose slide_ma_5 150 70 170 180 90 165 0 0 90 90 90 90 90 70 180 170 130 190 100 28 49 63 90 105 pose pnfwd21 80 195 195 160 80 90 90 120 90 90 90 110 90 70 180 170 119 190 106 3 54 69 90 105 pose lean_rl_r42 150 90 170 180 90 90 0 0 90 90 70 60 90 90 170 170 145 95 93 105 32 70 100 100 pose lean_lr_r42 90 150 180 170 90 90 0 0 90 90 110 120 70 90 170 170 90 145 105 93 65 37 100 100 pose RP-frontup_ldf51 90 90 20 20 200 200 0 0 90 90 90 90 90 90 180 180 132 132 40 40 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 RP-frontup_ldf49 90 90 180 180 90 90 0 0 90 90 90 90 90 90 180 180 132 132 40 40 10 10 90 90 pose RP-frontup_ldf50 90 90 180 180 90 90 0 0 90 90 90 90 90 90 180 180 97 97 40 40 60 60 90 90 pose step-slrb-u1 90 90 160 160 90 90 0 0 90 90 90 90 90 90 185 170 80 155 130 55 40 55 80 100 pose step-slrb-u2 90 90 160 160 90 90 0 0 90 90 90 90 90 90 185 170 80 125 130 130 40 40 90 90 pose HIT_FC_L5 25 25 180 180 110 110 0 0 90 90 90 90 90 90 180 180 115 115 65 65 30 30 90 90 pose HIT_FC_L3 90 90 160 160 155 155 0 0 90 90 90 90 90 90 180 180 86 86 170 170 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-front_down state lean 10 E 0 RP-lean state sitdown 16 E 0 RP-sitdown state ldf8 16 E 1 RP-frontup_ldf8 state ldf7 16 E 0 RP-frontup_ldf7 state ldf6 8 E 2 RP-frontup_ldf6 state ldf5 16 E 1 RP-frontup_ldf5 state ldf4 1 C 0 RP-frontup_ldf4 state ldf3 1 C 0 RP-frontup_ldf3 state ldf2 10 E 1 RP-frontup_ldf2 state ldf1 10 E 1 RP-frontup_ldf1 state rest 10 E 1 RP-front_rest state wait_1_sec 50 W 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pushup2 state push_up_pushdown 8 E 2 RP-frontup_ldf6 state push_up_pushup 8 E 2 pushup //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-move_left state leandown 8 E 0 RP-lean state srml 6 E 1 RP-move_srml state slmr 2 C 1 RP-move_slml state leanc 8 E 1 RP-lean state reset 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-move_right state leandown 8 E 0 RP-lean state srml 6 E 1 RP-move_slmr state slmr 2 C 1 RP-move_srmr state leanc 8 E 1 RP-lean state reset 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence bow_fwd state arm_rest 10 E 0 arm_rest state bow_fwd 14 E 1 bow_fwd //------------------------------------------------------------------------------------------------------------------------------------------------ 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 q-walkfast-s state leandown 8 E 0 RP-lean state src 14 E 0 src-c //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-e state lean-back 8 E 1 RP-lean-back state lean 20 W 1 lean state init 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ 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 RP-sllb state sclb 10 E 1 RP-clb state srlb 12 E 0 q-srlb11c state src2 14 E 0 RP-src-6 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-init state init 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence kick_fwd_right state leandown 6 E 1 lean state kick_slrb 1 C 1 kick_slrb state kick_slrb2 8 E 1 kick_slrb2 state wait_1sec 30 W 1 RP-init state kick_slrb3 10 C 0 kick_slrb3 state wait_04sec 30 W 1 RP-init state kick_slrb1 10 E 1 kick_slrb state leanc 14 E 1 lean state init 4 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pushup1 state push_up_sitdown 10 E 1 RP-sitdown state push_up_leanfwd 9 E 1 leanfwd state push_up_leanfwd2 16 E 0 RP-frontup_ldf7 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pushup3 state push_up_ldf71 16 E 0 RP-frontup_ldf7 state push_up_ldf81 16 E 0 RP-frontup_ldf8 state push_up_leanback 16 E 0 RP-frontup_leanback state push_up_ldf10 8 E 1 RP-frontup_ldf10 state push_up_sitdown1 16 E 0 RP-sitdown state wait2 10 W 1 RP-init state push_up_standup1 14 E 1 RP-standup state wait 25 W 1 RP-init state push_up_reset2 4 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast state leandown 8 E 0 RP-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 RP-sllb9 state sclb 10 E 1 RP-clb state srlb 12 E 0 q-srlb11c state src2 14 E 0 RP-src-6 state lean-back 8 E 1 RP-lean-back state lean 20 W 1 lean state init 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence kick_left state leandown 8 E 0 RP-lean state srml 8 E 1 kick_left1 state k1 8 E 1 kick_left13 state slmr 8 E 1 kick_left14 state leanc 8 E 1 kick_left1 state k2 8 E 1 RP-lean state init 8 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence fly_fwd state sitdown 10 E 1 RP-sitdown state sitdown2 10 E 0 fly_fwd0 state sitdownstr 2 E 0 fly_fwd1 state fly2 10 E 0 fly_fwd2 state fly3 10 E 0 fly_fwd3 state fly4 10 E 0 fly_fwd4 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence fly_bwd state sitdown 10 E 1 RP-sitdown state sitdown2 10 E 0 fly_fwd0 state sitdownstr 4 E 0 fly_bwd1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_h_left state down 10 E 1 kick_left_h79 state top 4 E 0 lean_h_l4 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_h_right state down 10 E 1 kick_right_h79 state top 4 E 0 lean_h_r4 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_M_STAND state standup 14 E 1 RP-standup state init 4 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-turn_left_30 state src 6 E 1 RP-sr_turn state ctr 11 E 1 RP-c_tl_30 state sl_lt 16 E 0 RP-sl_lt_30 state init2 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-turn_right_30 state src 6 E 1 RP-sl_turn state ctr 11 E 1 RP-c_tr_30 state sl_lt 16 E 0 RP-sr_tr_30 state init2 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence walk-slow state leandown 8 E 0 RP-lean state src 10 E 1 RP-src-1 state srrb 8 E 1 RP-srrb10 state scrb 10 E 1 RP-crb state slrb 12 E 1 RP-slrb state slc 10 E 0 RP-slc-1 state sllb 8 E 1 RP-sllb9 state sclb 12 E 1 RP-clb state srlb 12 E 1 RP-srlb state src2 12 E 0 RP-src-5 state lean-back 8 E 1 RP-lean-back state init 6 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ 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-crb3 state src 6 E 1 ss-src state lean2 8 E 0 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence slide_ma state ma 10 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence hand-open state op1 10 E 1 RP-init-op //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence hand-close state op1 10 E 1 RP-init-cl //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence slide_ma_low_dn state Dancing1 8 E 1 RP-init-2 state Dancing2 8 E 1 slide_ma_3d state w1 8 E 1 slide_ma_dn_cc1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence slide_ma_low_up state w1 8 E 1 slide_ma_dn_cc1 state Dancing2 14 E 0 slide_ma_3d state Dancing1 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_low_dn_r state Dancing1 8 E 1 RP-init-2 state Dancing2 8 E 1 lean_rl state w1 8 E 1 lean_dn_rl //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_low_up_r state w1 8 E 1 lean_dn_rl state Dancing2 14 E 0 lean_rl state Dancing1 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence dance_magar state m2 6 E 1 lean state m3 10 E 1 magar1 state m4 10 E 1 magar2 state m5 10 E 1 magar3 state m6 10 E 1 magar4 state m7 10 E 1 magar5 state m8 10 E 1 magar6 state m9 10 E 1 magar7 state m10 10 E 1 magar8 state m11 12 E 1 magar91 state m12 12 E 1 magar92 state m13 10 E 1 magar93 state m14 10 E 1 magar10 state m15 12 E 2 magar11 state m1 12 E 2 magar12 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence dance_magar2 state m15 10 E 0 lean state m1 6 E 0 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FL_MA state ma 10 E 1 slide_ma_tl state left 4 E 0 slide_ma_m_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FL_MC state ma2 10 E 1 slide_ma_tl state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FR_MA state ma 10 E 1 slide_ma_tr state left 4 E 0 slide_ma_m_r1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FR_MB state ma3 6 E 0 slide_ma_m_r2 state left 4 E 0 slide_ma_m_r1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FC_HA state ma 10 E 1 slide_ma_tl state left1 10 E 1 slide_ma313 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FC_HC state ma2 10 E 1 slide_ma_tl state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RC_HA state sw1 10 E 1 HIT_RC_H10 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RC_HB state sw2 4 E 0 HIT_RC_H11 state sw4 4 E 0 HIT_RC_H12 state sw5 4 E 0 HIT_RC_H13 state sw6 6 E 0 HIT_RC_H14 state sw3 6 E 0 HIT_RC_H10 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RC_HC state sw7 8 E 1 HIT_RC_H15 state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RL_MA state ma 8 E 1 lean_rl state left 4 E 0 lean_rl_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RL_MC state ma2 10 E 1 lean_rl state init 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_M1 state sitdown 20 E 0 HIT_LR_RL_M0 state m2 6 E 1 HIT_LL_M2 state m3 6 E 0 HIT_LL_M3 state m4 6 E 0 HIT_LL_M40 state m5 6 E 0 HIT_LL_M50 state sitdown2 8 E 1 HIT_LR_RL_M0 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wave state p1 10 E 1 wave2 state p2 10 E 1 wave1 state p3 10 E 1 wave2 state p4 10 E 1 wave3 state p5 10 E 1 wave2 state p0 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence winning state p1 10 E 1 slide_ma_3d state p2 4 E 0 pn1 state p3 4 E 0 pn2 state p4 4 E 0 pn1 state p5 4 E 0 pn2 state p0 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ 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 ss_left state Dancing1 8 E 0 ss-lean state Dancing2 2 C 0 ss_right1 state w1 3 W 1 ss_right1 state Dancing3 2 C 0 ss-lean state Dancing4 2 C 0 ss_right1 state w2 3 W 1 ss_right1 state Dancing5 2 C 0 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ss_right state Dancing1 8 E 0 ss-lean state Dancing2 2 C 0 ss_left1 state w1 3 W 1 ss_left1 state Dancing3 2 C 0 ss-lean state Dancing4 2 C 0 ss_left1 state w2 3 W 1 ss_left1 state Dancing5 2 C 0 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence ss_walk state leandown 8 E 0 ss-lean state src1 6 E 0 ss-src state scrb 6 E 1 ss-crb3 state sllb 8 E 1 ss-slrb2 state srrb 6 E 1 ss-slc state clb 6 E 1 ss-clb3 state srlb 8 E 0 ss-srlb2 state src 6 E 1 ss-src state lean2 8 E 0 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence no_op state reset 2 W 0 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MA state ma 8 E 1 lean_rl state left 4 E 0 lean_rl_r1 state ma2 4 E 0 lean_rl_r41 state ma3 8 E 0 lean_rl_r40 state m4 8 E 0 lean_rl_r6 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LR_MA state ma 8 E 1 lean_lr state left 4 E 0 lean_lr_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LR_MC state ma2 10 E 1 lean_lr state init 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LC_HA state sw1 10 E 1 HIT_LC_H10 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LC_HB state sw2 10 E 0 HIT_LC_H11 state sw4 4 E 0 HIT_LC_H12 state sw5 4 E 0 HIT_LC_H13 state sw6 6 E 0 HIT_LC_H14 state sw3 6 E 0 HIT_LC_H10 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BL_B state w1 8 E 0 lean_dn_rl_l1 state w2 4 E 0 lean_dn_rl_l2 state Dancing1 8 E 1 lean_dn_rl_up1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BR_A state w1 8 E 1 lean_lr state Dancing2 8 E 1 lean_dn_lr state w2 6 E 1 lean_dn_lr_up state Dancing1 8 E 1 lean_dn_lr_up1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BR_B state w1 4 E 0 lean_dn_lr_r1 state w2 4 E 0 lean_dn_lr_r2 state Dancing1 8 E 1 lean_dn_lr_up1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BR_C state w2 6 E 1 lean_dn_lr_up state Dancing2 8 E 1 lean_dn_lr state w1 8 E 1 lean_lr state Dancing1 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BC_A state Dancing2 10 E 1 lean_dn_rl //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MB state m7 4 E 0 lean_rl_r70 state m5 8 E 0 lean_rl_r7 state m6 8 E 1 lean_rl_r6 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MA state ma 8 E 1 lean_lr state left 4 E 0 lean_lr_r1 state ma2 4 E 0 lean_lr_r41 state ma3 8 E 0 lean_lr_r40 state m4 8 E 0 lean_lr_r6 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MB state m7 4 E 0 lean_lr_r70 state m5 8 E 0 lean_lr_r7 state m6 8 E 1 lean_lr_r6 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pn_center state ma 10 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MC state ma3 4 E 0 lean_rl_r4 state ma2 12 E 1 lean_rl state init 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-sitdown state sitdown2 20 E 0 RP-sitdown2 state sitdownstr 26 E 0 RP-sitdownstr //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-standup state sitdown2 18 E 0 RP-sitdown2 state sitdown 10 E 0 RP-sitdown state standup 14 E 0 RP-standup state init 4 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FC_HB state left 4 E 0 slide_ma3 state left1 10 E 1 slide_ma313 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence st_right state Dancing1 8 E 0 ss-lean state Dancing2 6 C 1 st-right10 state w1 6 C 1 st-right2 state w2 4 C 1 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence st_left state Dancing1 8 E 0 ss-lean state Dancing2 6 C 1 st-left10 state w1 6 C 1 st-left2 state w2 4 C 1 ss-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BL_A state w1 8 E 1 lean_rl state Dancing2 8 E 1 lean_dn_rl state w2 6 E 1 lean_dn_rl_up state Dancing1 8 E 1 lean_dn_rl_up1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BC_B state w2 8 E 1 lean_dn_rl_h1 state Dancing1 8 E 1 lean_dn_rl_h2 state w3 2 E 0 lean_dn_rl_h3 state Dancing2 10 E 1 lean_dn_rl //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FL_MB state ma3 2 E 0 slide_ma_m_l2 state left 4 E 0 slide_ma_m_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LC_HC state sw7 10 E 2 HIT_LC_H15 state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BL_C state w2 6 E 1 lean_dn_rl_up state Dancing2 8 E 1 lean_dn_rl state w1 8 E 1 lean_rl state Dancing1 10 E 0 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MC state ma3 4 E 0 lean_lr_r4 state ma2 10 E 1 lean_lr state init 8 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 pn_center_B state left1 10 E 1 slide_ma313 state left 4 E 0 slide_ma3 state s 4 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence side_left state ma 10 E 2 side_left state left1 4 E 0 side_left2 state s 2 E 0 side_left3 state s2 6 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence side_right state ma 10 E 2 side_right state left1 4 E 0 side_right2 state s 2 E 0 side_right3 state s2 6 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence twist state p1 10 E 1 slide_ma_3d state p2 8 E 1 twist1 state p3 4 E 0 twist2 state p4 4 E 0 twist1 state p5 4 E 0 twist2 state p6 4 E 0 twist3 state p7 4 E 0 twist4 state p8 4 E 0 twist3 state p9 4 E 0 twist4 state p10 8 E 1 slide_ma_3d state p0 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FR_MC state ma2 10 E 1 slide_ma_tr state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pn_left state p6 6 E 1 slide_ma_4 state p3 4 E 0 pnfwd21 state p4 6 E 2 slide_ma_4 state p5 8 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence pn_right state p1 6 E 1 slide_ma_5 state p2 4 E 0 pnfwd4 state p4 4 E 2 slide_ma_5 state p5 6 E 1 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MA2 state ma 8 E 1 lean_rl state left 4 E 0 lean_rl_r1 state ma2 4 E 0 lean_rl_r41 state ma3 8 E 0 lean_rl_r40 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MB2 state m7 4 E 0 lean_rl_r42 state m5 8 E 1 lean_rl_r40 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RR_MC2 state ma2 12 E 1 lean_rl state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MA2 state ma 8 E 1 lean_lr state left 4 E 0 lean_lr_r1 state ma2 4 E 0 lean_lr_r41 state ma3 8 E 0 lean_lr_r40 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MC2 state ma2 10 E 1 lean_lr state init 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 ldf4 1 C 0 RP-frontup_ldf4 state ldf5 8 E 1 RP-frontup_ldf47 state ldf6 8 E 2 RP-frontup_ldf48 state ldf7 16 E 0 RP-frontup_ldf50 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 50 W 1 RP-init state standup 10 E 1 RP-standup state init 4 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-back_up state reset 10 E 0 RP-reset state s1 10 E 0 RP-backup_s1 state s2 10 E 0 RP-backup_s2 state s3 10 E 0 RP-backup_s3 state s4 10 E 0 RP-backup_s4 state s7 10 E 2 RP-backup_s7 state s8 10 E 1 RP-backup_s8 state s9 10 E 1 RP-backup_s9 state sitdown 16 E 0 RP-sitdown state wait_04_sec 50 W 1 RP-init state standup 10 E 1 RP-standup state wait_05sec 25 W 1 RP-init state init 4 E 1 RP-init state wait_1_sec 50 W 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_BC_C state w1 8 E 1 lean_rl state Dancing1 10 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LL_MB2 state m7 4 E 0 lean_lr_r42 state m5 12 E 1 lean_lr_r40 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_LR_MB state ma3 8 E 0 lean_lr_l2 state m4 4 E 0 lean_lr_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_RL_MB state ma3 10 E 0 lean_rl_l2 state m4 4 E 0 lean_rl_l1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step-up state leandown 8 E 0 step-lean state src1 6 E 1 step-src1 state srcup 8 E 0 step-src-up state scrb 10 E 0 step-crb1 state slrb 8 E 1 step-slrb state slrbup 8 E 1 step-slrb-u1 state slrbup2 8 E 1 step-slrb-u2 state slrbup3 16 E 0 RP-frontup_ldf8 state lean2 16 E 0 RP-frontup_leanback state s2 8 E 1 RP-frontup_ldf10 state s3 16 E 0 RP-sitdown state s4 50 W 1 RP-init state s5 10 E 1 RP-standup state s6 4 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FC_L1 state push_up_sitdown 20 E 0 RP-sitdown state l2 6 E 0 HIT_FC_L3 state l3 6 E 0 HIT_FC_L5 //------------------------------------------------------------------------------------------------------------------------------------------------ ****************** Routine **************************************************************************************************************************** // NAME Sequence name //------------------------------------------------------------------------------------------------------------------------------------------------ Routine no_op no_op Routine RP-config RP-config Routine q-walkfast q-walkfast Routine RP-back_up RP-back_up Routine RP-sitdown RP-sitdown Routine RP-standup RP-standup Routine RP-move_left RP-move_left Routine RP-move_right RP-move_right Routine RP-front_down RP-front_down Routine RP-init RP-init Routine RP-turn_left_30 RP-turn_left_30 Routine RP-turn_right_30 RP-turn_right_30 Routine RP-walk-back RP-walk-back Routine kiss GB_Kiss Routine q-walkfast2 q-walkfast-s q-walkfast-c q-walkfast-c q-walkfast-e Routine bow_fb bow_fwd bow_back Routine kick_left_h kick_left Routine fly_fwd fly_fwd Routine fly_bwd fly_bwd Routine pushup pushup1 pushup2 pushup2 pushup2 pushup3 Routine walk-slow walk-slow Routine lean_h_left lean_h_left Routine lean_h_right lean_h_right Routine ss_left ss_left Routine ss_right ss_right Routine st_right st_right Routine st_left st_left Routine ss_walk ss_walk Routine ss_walk_b ss_walk_b Routine hand-open hand-open Routine hand-close hand-close Routine RP-front_up RP-front_up Routine slide_ma_down slide_ma_low_dn Routine slide_ma_up slide_ma_low_up Routine dance_magar dance_magar dance_magar2 Routine HIT_FL_MA HIT_FL_MA Routine HIT_FL_MB HIT_FL_MB Routine HIT_FL_MC HIT_FL_MC Routine HIT_FR_MA HIT_FR_MA Routine HIT_FR_MB HIT_FR_MB Routine HIT_FR_MC HIT_FR_MC Routine HIT_FC_HA HIT_FC_HA Routine HIT_FC_HB HIT_FC_HB Routine HIT_FC_HC HIT_FC_HC Routine pn_right pn_right Routine pn_left pn_left Routine pn_center pn_center Routine pn_center_B pn_center_B Routine side_right side_right Routine side_left side_left Routine HIT_RC_HA HIT_RC_HA Routine HIT_RC_HB HIT_RC_HB Routine HIT_RC_HC HIT_RC_HC Routine HIT_RL_MA HIT_RL_MA Routine HIT_RL_MB HIT_RL_MB Routine HIT_RL_MC HIT_RL_MC Routine HIT_LL_M HIT_LL_M1 HIT_M_STAND Routine wave wave Routine twist twist Routine HIT_LR_MA HIT_LR_MA Routine HIT_LR_MB HIT_LR_MB Routine HIT_LR_MC HIT_LR_MC Routine HIT_LC_HA HIT_LC_HA Routine HIT_LC_HB HIT_LC_HB Routine HIT_LC_HC HIT_LC_HC Routine HIT_BL_A HIT_BL_A Routine HIT_BL_B HIT_BL_B Routine HIT_BL_C HIT_BL_C Routine HIT_BR_C HIT_BR_C Routine HIT_BR_B HIT_BR_B Routine HIT_BR_A HIT_BR_A Routine HIT_BC_A HIT_BC_A Routine HIT_BC_B HIT_BC_B Routine HIT_BC_C HIT_BC_C Routine step-up step-up Routine HIT_RR_MA HIT_RR_MA2 Routine HIT_RR_MB HIT_RR_MB2 Routine HIT_RR_MC HIT_RR_MC2 Routine HIT_LL_MA HIT_LL_MA2 Routine HIT_LL_MB HIT_LL_MB2 Routine HIT_LL_MC HIT_LL_MC2 Routine HIT_BC_L fly_bwd RP-back_up Routine HIT_FC_L HIT_FC_L1 pushup3 ****************** Key ************************ do not change the key definition order ********************************************************* // NAME Routine name //------------------------------------------------------------------------------------------------------------------------------------------------ key KEY_1 ss_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 ss_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 HIT_FR_MA key KEY_21 HIT_FR_MB key KEY_22 HIT_FR_MC key KEY_23 HIT_FC_HA key KEY_24 HIT_FC_HB key KEY_25 HIT_FC_HC key KEY_26 HIT_FL_MA key KEY_27 HIT_FL_MB key KEY_28 HIT_FL_MC 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 HIT_RL_MA key KEY_35 HIT_RL_MB key KEY_36 HIT_RL_MC key KEY_37 HIT_RC_HA key KEY_38 HIT_RC_HB key KEY_39 HIT_RC_HC key KEY_40 HIT_RR_MA key KEY_41 HIT_RR_MB key KEY_42 HIT_RR_MC 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 HIT_BL_A key KEY_49 HIT_BL_B key KEY_50 HIT_BL_C key KEY_51 HIT_BC_A key KEY_52 HIT_BC_B key KEY_53 HIT_BC_C key KEY_54 HIT_BR_A key KEY_55 HIT_BR_B key KEY_56 HIT_BR_C 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 HIT_LL_MA key KEY_63 HIT_LL_MB key KEY_64 HIT_LL_MC key KEY_65 HIT_LC_HA key KEY_66 HIT_LC_HB key KEY_67 HIT_LC_HC key KEY_68 HIT_LR_MA key KEY_69 HIT_LR_MB key KEY_70 HIT_LR_MC key KEY_71 RP-front_up key KEY_72 RP-back_up key KEY_73 ss_walk key KEY_74 st_right key KEY_75 ss_right key KEY_76 st_right key KEY_77 ss_walk_b key KEY_78 st_left key KEY_79 ss_left key KEY_80 st_left key KEY_81 no_op key KEY_82 no_op key KEY_83 no_op key KEY_84 pn_left key KEY_85 side_left key KEY_86 hand-open key KEY_87 pn_center key KEY_88 pn_center_B key KEY_89 HIT_FC_HC key KEY_90 pn_right key KEY_91 side_right key KEY_92 hand-close key KEY_93 RP-back_up key KEY_94 RP-front_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 st_left key KEY_N ss_walk key KEY_NE st_right key KEY_W ss_left key KEY_E ss_right key KEY_S ss_walk_b key KEY_FRONT_UP st_right key KEY_FRONT_DOWN st_left key KEY_BACK_UP no_op key KEY_BACK_DOWN no_op key REMOTE_KEY_1 no_op key REMOTE_KEY_2 RP-sitdown key REMOTE_KEY_3 RP-standup key REMOTE_KEY_4 hand-open key REMOTE_KEY_5 step-up key REMOTE_KEY_6 HIT_FC_L key REMOTE_KEY_7 HIT_BC_L key REMOTE_KEY_8 twist key REMOTE_KEY_9 kiss key REMOTE_KEY_10 hand-close key REMOTE_KEY_11 RP-front_up key REMOTE_KEY_12 RP-back_up