****************** Do not change the order of the definitions ************************************************************************************
**
****************** 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 180 180 180 180  90  90   0   0   0   0  90  90  90  90 180 180 148 148  30  30  90  90  90  90
pose                           RP-lean 180 180 170 170  90  90   0   0   0   0  90  90  90  90 180 180 132 132  75  75  60  60  90  90
pose                      RP-lean-back 180 180 170 170  90  90   0   0   0   0  90  90  90  90 180 180 135 135  75  75  60  60  90  90
pose                          RP-src-6 180 180 170 170  90  90   0   0   0   0  90  90  90  90 161 195 132 132  75  75  60  60 108  73
pose                         RP-srrb-6 180 150 170 170  90  90   0   0   0   0  90  90  90  90 161 190 132 160  75  60  60  60 112  73
pose                          RP-crb-6 180 150 170 170  90  90   0   0   0   0  90  90  90  90 180 180 132 177  75  34  60  64  90  90
pose                          RP-clb-6 150 180 170 170  90  90   0   0   0   0  90  90  90  90 180 180 177 132  34  75  64  60  90  90
pose                         RP-slrb-6 180 150 170 170  90  90   0   0   0   0  90  90  90  90 190 161 132 177  75  34  60  61  73 111
pose                          RP-slc-6 180 180 170 170  90  90   0   0   0   0  90  90  90  90 195 161 132 132  75  75  60  60  73 108
pose                         RP-sllb-6 150 180 170 170  90  90   0   0   0   0  90  90  90  90 190 161 160 132  60  75  60  60  73 112
pose                         RP-srlb-6 150 180 170 170  90  90   0   0   0   0  90  90  90  90 161 190 177 132  34  75  61  60 111  73
****************** Sequence *************************************************************************************************************************
//                                   NAME
****************** State *************************************************************************************************************************
//                                NAME  Steps    mode     speed    pos name
//------------------------------------------------------------------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------------------------------------------------------------------
Sequence                      walk-stable
state                            leandown     6       E       1       RP-lean
state                                 src    12       E       1       RP-src-6
state                                srrb    10       E       0       RP-srrb-6
state                                scrb    14       E       1       RP-crb-6
state                                slrb    12       E       1       RP-slrb-6
state                                 slc    14       E       0       RP-slc-6
state                                sllb    10       E       0       RP-sllb-6
state                                sclb    14       E       1       RP-clb-6
state                                srlb    12       E       1       RP-srlb-6
state                                src2    14       E       0       RP-src-6
state                           lean-back    10       E       2       RP-lean-back
state                                init    10       E       1       RP-init
//------------------------------------------------------------------------------------------------------------------------------------------------
****************** Routine ****************************************************************************************************************************
//                                  NAME   Sequence name
//------------------------------------------------------------------------------------------------------------------------------------------------
Routine                      walk-stable   walk-stable