****************** 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 33 130 100 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 10 105 100 0 servo RHAND 90 10 113 130 0 servo WAIST 90 18 130 150 25 servo RLT 90 35 130 100 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-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 90 162 190 124 149 75 27 65 90 120 74 pose RP-sl_turn 180 180 170 170 90 90 0 0 90 90 90 90 90 90 190 162 141 128 30 75 90 59 76 99 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 90 147 195 128 126 75 75 60 62 128 77 pose RP-c_tl_30 180 180 175 180 90 90 0 0 90 90 90 90 80 80 180 180 144 144 30 30 90 90 94 94 pose RP-sl_lt_30 180 180 155 170 90 90 0 0 90 90 90 90 80 80 190 162 142 120 30 75 87 70 75 100 pose RP-c_tr_30 180 180 175 175 90 90 0 0 90 90 90 90 80 80 180 180 144 144 30 30 90 90 94 94 pose RP-sr_tr_30 180 180 170 160 90 90 0 0 90 90 90 90 80 80 162 195 120 141 75 30 59 86 100 75 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 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 180 180 165 160 90 90 0 0 90 90 90 90 90 90 190 162 153 135 55 95 65 40 75 104 pose slide_ma3 60 60 90 90 90 90 0 0 90 90 90 90 90 70 180 170 100 180 115 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 180 140 170 170 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 slide_ma313 70 120 185 185 165 165 0 0 90 90 90 90 90 70 180 170 130 190 100 28 49 68 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_tl 150 170 160 160 90 90 0 0 90 90 90 90 90 70 180 170 124 198 106 3 51 64 90 105 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_dn_rl 135 135 170 170 90 90 0 0 90 90 70 90 90 90 180 180 240 105 15 180 20 0 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 90 165 160 160 160 0 0 90 90 90 90 90 90 180 180 86 86 170 170 0 0 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 RP-lean-2 180 180 170 170 90 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 90 pose q-srrb9d 180 140 165 165 90 90 0 0 90 90 90 90 90 90 167 190 87 150 112 70 72 57 100 75 pose ss_pn_lf2 180 180 90 170 60 90 0 0 90 90 90 90 90 90 175 170 95 130 115 75 45 60 97 90 pose ss-lean-lf2 180 180 190 170 0 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 88 90 pose ss_right3 180 180 170 190 90 0 0 0 90 90 90 90 90 90 155 180 130 130 75 75 60 60 90 97 pose ss-lean-sw-f 90 180 190 170 150 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 88 90 pose ss-left-sw-f3 90 180 40 170 20 90 0 0 90 90 90 90 90 90 180 155 130 130 75 75 60 60 97 90 pose ss-lean-sw-f1 90 180 40 170 20 90 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 88 90 pose ss-lean-sw-r 180 90 170 190 90 150 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 88 pose ss-lean-sw-r1 180 90 170 40 90 20 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 88 pose ss-right-sw-r3 180 90 170 40 90 20 0 0 90 90 90 90 90 90 155 180 130 130 75 75 60 60 90 97 pose ss-lean-r2 180 180 170 190 90 0 0 0 90 90 90 90 90 90 180 180 130 130 75 75 60 60 90 88 pose ss_pn_r2 180 180 170 90 90 60 0 0 90 90 90 90 90 90 170 175 125 98 75 115 60 45 90 97 pose ss_left3 180 180 190 170 0 90 0 0 90 90 90 90 90 90 180 155 130 130 75 75 60 60 97 90 pose lean_dn_rl2 135 135 170 170 90 90 0 0 90 90 70 90 90 90 180 180 210 115 10 130 45 35 90 90 pose lean_dn_sit_b 0 0 190 190 105 105 0 0 90 90 90 90 90 90 180 180 160 160 170 170 25 25 90 90 pose lean_dn_sit_b0 0 0 190 190 105 105 0 0 90 90 90 90 90 90 180 180 86 86 170 170 0 0 90 90 pose lean_dn_sit_b1 0 0 90 90 90 90 0 0 90 90 90 90 90 90 180 180 160 160 170 170 25 25 90 90 pose fly_bwd0 90 90 160 160 160 160 0 0 90 90 90 90 90 90 180 180 80 80 170 170 15 15 90 90 pose block_fwd1 90 90 180 180 90 90 0 0 90 90 90 90 90 90 90 90 142 152 31 31 90 90 90 90 pose block_fwd11 90 90 180 180 90 90 0 0 90 90 90 90 90 90 90 90 90 90 31 31 90 90 90 90 pose block_fwd12 90 90 180 180 90 90 0 0 90 90 90 90 90 90 180 180 90 90 31 31 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 RP-sr_turn-2 180 180 170 150 90 90 0 0 90 90 90 90 90 80 162 190 124 145 75 27 65 88 100 74 pose RP-sl_lt_30-2 180 180 155 170 90 90 0 0 90 90 90 90 90 90 190 162 146 120 30 75 88 70 77 100 pose RP-sl_turn-2 180 180 170 170 90 90 0 0 90 90 90 90 80 80 190 162 138 128 30 75 90 59 76 99 pose RP-sr_tr_30-2 180 180 170 160 90 90 0 0 90 90 90 90 90 90 162 195 120 143 75 30 59 90 100 75 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 q-slrb11c3 180 150 170 170 90 90 0 0 90 90 90 90 90 90 195 165 110 181 105 45 40 35 75 109 pose q-srlb11c3 150 180 170 170 90 90 0 0 90 90 90 90 90 90 165 195 181 110 45 105 40 46 109 75 pose RP-lean-back3 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-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 src-c3 125 180 170 170 90 90 0 0 90 90 90 90 90 90 162 190 132 132 75 75 60 62 110 73 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-bow81 25 25 70 70 195 195 0 0 0 0 90 90 90 90 180 180 195 75 90 0 145 130 90 90 pose flip-f-bow82 0 0 70 70 195 195 0 0 0 0 90 90 90 90 180 180 195 75 90 0 145 130 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-bow83 0 0 70 70 195 195 0 0 0 0 90 90 90 90 180 180 195 105 0 90 145 130 90 90 pose put_1_up_op 180 70 90 180 170 90 0 90 0 55 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose put_1_up_op_l 70 180 180 160 90 90 90 0 55 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1 180 180 150 150 90 90 0 0 0 0 90 90 90 90 180 180 85 85 180 180 0 0 90 90 pose pk1-cl 180 180 150 150 90 90 0 0 0 115 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1up 180 180 90 90 170 90 0 0 0 115 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1up2 180 105 90 130 170 135 0 90 0 115 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pu1up 180 100 90 200 170 80 0 90 0 115 90 70 90 90 180 180 90 90 180 180 0 0 90 90 pose pu1cl 180 100 90 200 170 70 0 90 0 115 90 70 90 90 180 180 83 83 160 160 0 0 90 90 pose pk1-l 180 180 150 150 90 90 0 0 0 0 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1up-l 180 180 90 160 90 90 0 0 110 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1up2-l 105 180 130 160 135 90 90 0 110 90 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pu1cl-l 85 180 170 160 125 90 90 0 110 90 90 119 90 90 180 180 87 87 160 160 0 0 90 90 pose pu1op-l 89 180 170 160 125 90 90 0 0 90 90 119 90 90 180 180 87 87 160 160 0 0 90 90 pose pu1up-l 100 180 200 160 80 90 90 0 110 90 90 120 90 90 180 180 90 90 180 180 0 0 90 90 pose pk1-cl-l 180 180 150 160 90 90 0 0 110 0 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose pu1op1 180 100 90 200 170 70 0 90 0 0 90 70 90 90 180 180 80 80 160 160 0 0 90 90 pose pu1op2 180 100 75 200 190 70 0 90 0 0 90 70 90 90 180 180 90 90 160 160 0 0 90 90 pose pu1cl-l2 89 180 170 160 125 90 90 0 110 90 90 115 90 90 180 180 87 87 160 160 0 0 90 90 pose pu1op-l2 85 180 170 160 125 90 90 0 0 90 90 105 90 90 180 180 95 95 160 160 0 0 90 90 pose pu1op-l-3 86 180 190 160 110 90 90 0 0 90 90 115 90 90 180 180 84 84 165 165 0 0 90 90 pose pu1cl-l-3 86 180 190 160 110 90 90 0 110 90 90 115 90 90 180 180 84 84 160 160 0 0 90 90 pose pu1up3 180 100 90 200 170 80 0 90 0 110 90 70 90 90 180 180 90 90 180 180 0 0 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 pk1-cl-l2 180 180 150 160 90 90 0 0 110 0 90 90 90 90 180 180 90 90 180 180 0 0 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-dn2 0 0 195 145 120 200 0 0 0 0 90 90 90 90 195 90 160 80 30 180 80 0 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-f-bow8100 25 25 95 95 200 200 0 0 0 0 90 90 90 90 180 180 215 75 60 0 145 130 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 lift1 90 90 155 155 90 90 0 0 105 105 90 90 90 90 180 180 164 164 30 30 90 90 90 90 pose lift2 0 0 155 155 90 90 0 0 105 105 90 90 90 90 180 180 148 148 30 30 90 90 90 90 pose RP-sitdown-lift-op2 120 120 155 155 175 175 0 0 0 0 90 90 90 90 180 180 90 90 170 170 0 0 90 90 pose RP-standup-lift 120 120 155 155 160 160 0 0 90 90 90 90 90 90 180 180 131 131 75 75 60 60 90 90 pose RP-sitdown-hold 140 140 155 155 90 90 0 0 105 105 90 90 90 90 180 180 100 100 175 175 0 0 90 90 pose RP-sitdown-hold-op 120 120 170 170 90 90 0 0 0 0 90 90 90 90 180 180 83 83 170 170 0 0 90 90 pose RP-sitdown-hold-cl 120 120 170 170 90 90 0 0 105 105 90 90 90 90 180 180 83 83 170 170 0 0 90 90 pose RP-sitdown-hold-cl2 120 120 155 155 90 90 0 0 105 105 90 90 90 90 180 180 85 85 170 170 0 0 90 90 pose RP-standup-hold 150 150 157 157 90 90 0 0 105 105 90 90 90 90 180 180 136 136 75 75 60 60 90 90 pose RP-sitdown-op 150 150 145 145 120 120 0 0 0 0 90 90 90 90 180 180 90 90 170 170 0 0 90 90 pose RP-sitdown-op2 125 125 145 145 120 120 0 0 0 0 90 90 90 90 180 180 90 90 170 170 0 0 90 90 pose RP-standup-hold0 140 140 157 157 90 90 0 0 105 105 90 90 90 90 180 180 100 100 105 105 55 55 90 90 pose RP-sitdown-hold2 135 135 155 155 90 90 0 0 105 105 90 90 90 90 180 180 90 90 175 175 0 0 90 90 pose lift1-one 90 90 155 155 90 90 0 0 105 105 90 90 90 90 180 180 158 158 30 30 90 90 90 90 pose lift2-one 0 0 155 155 90 90 0 0 105 105 90 90 90 90 180 180 146 146 30 30 90 90 90 90 pose pk1-cl-l3 180 180 144 160 90 90 0 0 105 0 90 90 90 90 180 180 90 90 180 180 0 0 90 90 pose flip-f-bow8101 25 25 95 95 200 200 0 0 0 0 90 90 90 90 180 180 235 75 45 0 160 130 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 ****************** 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 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 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 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 HIT_FC_HA state ma 10 E 1 slide_ma_tl state left1 10 E 1 slide_ma313 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 HIT_BC_A state Dancing2 10 E 1 lean_dn_rl //------------------------------------------------------------------------------------------------------------------------------------------------ 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 step0_ma_left state Dancing1 8 E 0 ss-lean-lf2 state stand 2 E 0 ss_pn_lf2 state Dancing3 8 E 0 ss-lean-lf2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step0_ma_right state Dancing1 8 E 0 ss-lean-r2 state stand 2 E 0 ss_pn_r2 state Dancing3 8 E 0 ss-lean-r2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step_ma_left state Dancing1 8 E 0 ss-lean-lf2 state Dancing2 2 C 0 ss_left3 state w1 20 W 1 ss_left3 state stand 2 E 0 ss_pn_lf2 state Dancing3 8 E 0 ss-lean-lf2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step2_ma_left state Dancing1 8 E 0 ss-lean-lf2 state Dancing2 2 C 0 ss_left3 state w1 20 W 1 ss_left3 state stand 2 E 0 ss_pn_lf2 state Dancing3 8 E 0 ss-lean-lf2 state s2 2 C 0 ss_left3 state s3 20 W 1 ss_left3 state s4 2 E 0 ss_pn_lf2 state s5 8 E 0 ss-lean-lf2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step2_ma_right state Dancing1 8 E 0 ss-lean-r2 state Dancing2 2 C 0 ss_right3 state w1 20 W 1 ss_right3 state stand 2 E 0 ss_pn_r2 state Dancing3 8 E 0 ss-lean-r2 state s2 2 C 0 ss_right3 state s3 20 W 1 ss_right3 state s4 2 E 0 ss_pn_r2 state s5 8 E 0 ss-lean-r2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step_ma_right state Dancing1 8 E 0 ss-lean-r2 state Dancing2 2 C 0 ss_right3 state w1 20 W 1 ss_right3 state stand 2 E 0 ss_pn_r2 state w2 20 W 1 ss-lean-r2 state Dancing3 8 E 0 ss-lean-r2 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 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 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-move_left state leandown 8 E 0 RP-lean-2 state srml 6 E 1 RP-move_srml state slmr 2 C 1 RP-move_slml state leanc 8 E 1 RP-lean-2 state reset 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-move_right state leandown 10 E 0 RP-lean-2 state srml 6 E 1 RP-move_slmr state slmr 2 C 1 RP-move_srmr state leanc 8 E 1 RP-lean-2 state reset 14 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence block_up1 state lean_f1 10 E 1 block_fwd1 state lean_f11 6 E 1 block_fwd11 state lean_f12 6 E 1 block_fwd12 state reset 8 E 1 RP-reset //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence fly_bwd state sitdown 10 E 1 RP-sitdown state sitdown2 10 E 0 fly_bwd0 state sitdownstr 4 E 0 fly_bwd1 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 HIT_BC_C state s1 4 E 1 lean_dn_rl2 state w1 8 E 1 lean_rl state w2 20 W 1 RP-init-2 state Dancing1 6 E 1 RP-init-2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence bow_fwd state arm_rest 10 E 0 arm_rest state bow_fwd 14 E 1 bow_fwd //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_dn_bk state reset 10 E 1 RP-sitdown state s0 10 E 0 lean_dn_sit_b0 state s1 10 E 0 lean_dn_sit_b state s2 10 E 1 lean_dn_sit_b1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-turn_left_30 state src 8 E 1 RP-sr_turn state s1 10 E 1 RP-sr_turn-2 state ctr 11 E 1 RP-c_tl_30 state sl_lt 16 E 0 RP-sl_lt_30 state s2 10 E 1 RP-sl_lt_30-2 state init2 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence RP-turn_right_30 state src 6 E 1 RP-sl_turn state s1 10 E 1 RP-sl_turn-2 state ctr 11 E 0 RP-c_tr_30 state sl_lt 16 E 0 RP-sr_tr_30 state s2 10 E 1 RP-sr_tr_30-2 state init2 10 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step-ma state leandown 10 E 0 RP-lean-2 state src 14 E 0 src-c state srrb 12 E 0 q-srrb9d state scrb 20 E 0 slide_ma313 state ma2 4 E 0 slide_ma3 state slrb 12 E 0 slide_ma_3d //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-he state lean-back 10 E 0 RP-lean-back3 state init 10 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence wait state w 20 W 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 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 HIT_FC_HB state left 4 E 0 slide_ma3 state left1 10 E 1 slide_ma313 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence HIT_FC_HC state ma2 12 E 1 slide_ma_tl state init 12 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ 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-sitdown2 state wait2 10 W 1 RP-init state push_up_standup1 12 E 1 RP-standup state wait 25 W 1 RP-init state push_up_reset2 4 E 1 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence lean_dn_bk2 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 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 q-walkfast-h state leandown 10 E 0 RP-lean-2 state src 10 E 0 src-c3 state slrb 12 E 1 q-slrb11c3 state slc 10 E 0 q-slc10 state srlb 12 E 1 q-srlb11c3 state src2 12 E 0 src-c3 state lean-back 10 E 0 RP-lean-back3 state init 10 E 0 RP-init //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-hc state slrb 12 E 1 q-slrb11c3 state slc 10 E 0 q-slc10 state srlb 12 E 1 q-srlb11c3 state src2 12 E 0 src-c3 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence q-walkfast-hs state leandown 10 E 0 RP-lean-2 state src 10 E 0 src-c3 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 step0_sw_right state Dancing1 12 E 1 ss-lean-sw-r state pnl 8 E 0 ss-lean-sw-r1 state Dancing3 8 E 0 ss-lean-sw-r //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step0_sw_left state Dancing1 12 E 1 ss-lean-sw-f state pnl 8 E 0 ss-lean-sw-f1 state Dancing3 8 E 0 ss-lean-sw-f //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step_sw_right state Dancing1 12 E 1 ss-lean-sw-r state pnl 8 E 0 ss-right-sw-r3 state Dancing3 8 E 0 ss-lean-sw-r //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step_sw_left state Dancing1 12 E 1 ss-lean-sw-f state pnl 8 E 0 ss-left-sw-f3 state Dancing3 8 E 0 ss-lean-sw-f //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step2_sw_left state Dancing1 12 E 1 ss-lean-sw-f state pnl 8 E 0 ss-left-sw-f3 state Dancing3 8 E 0 ss-lean-sw-f state s2 8 E 0 ss-left-sw-f3 state s3 8 E 0 ss-lean-sw-f //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence step2_sw_right state Dancing1 12 E 1 ss-lean-sw-r state pnl 8 E 0 ss-right-sw-r3 state Dancing3 8 E 0 ss-lean-sw-r state s2 8 E 0 ss-right-sw-r3 state s3 8 E 0 ss-lean-sw-r //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence puback-c-r state put1op2 10 E 2 pu1op2 state put1op 10 E 2 pu1op1 state put1cl 10 E 2 pu1cl state put1up 20 E 2 pu1up3 state p1up2 20 E 2 pk1up2 state p1up 20 E 2 pk1up state p1cl 20 E 2 pk1-cl state p1op 10 E 2 pk1 //------------------------------------------------------------------------------------------------------------------------------------------------ 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-backup state r1 10 E 1 flip-f-bow-stand state s1 10 E 1 flip-f-bow83 state wait_2sec 10 E 1 flip-f-bow82 state hand2 8 E 0 flip-f-bow81 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-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-b state leandown 6 E 0 f-lean state scrb 2 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 2 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 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 2 C 1 f-lean-l-tf state r2 4 C 0 f-lean-l-tf2 state l1 2 W 1 f-lean-l-tf2 state lean2 8 E 0 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-mr state leandown 6 E 0 f-lean state scrb 2 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-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 2 C 1 f-lean-r-tr state r2 4 C 0 f-lean-r-tr2 state l1 2 W 1 f-lean-r-tr2 state lean2 8 E 0 f-lean //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence f-swing-2-1-mf state leandown 6 E 0 f-lean state scrb 2 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 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 break2 state knee 10 E 1 break-60-1 state s3 10 E 1 break-60-2 state w2 10 E 1 break-60-3 state s2 10 E 0 break-120-2 state s4 10 E 0 break-120-3 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break2-s state knee 10 E 1 break-60-1 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break2-c state s3 10 E 0 break-60-2 state w2 10 E 0 break-60-3 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence break state knee 10 E 1 break-60-0 state s3 1 C 0 break-120-1 state w2 10 W 1 RP-init state s2 10 E 0 break-120-2 state s4 10 E 0 break-120-3 //------------------------------------------------------------------------------------------------------------------------------------------------ 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 lift state s0 6 E 1 RP-init state s1 10 E 1 lift1 state s2 10 E 1 lift2 //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence hold-wt-back state init 16 E 1 lift1-one state sit 12 E 1 RP-standup-hold state sit2 12 E 0 RP-standup-hold0 state lean-back 10 E 1 RP-sitdown-hold2 state src2 12 E 1 RP-sitdown-hold-cl2 state srlb 12 E 1 RP-sitdown-hold-cl state slc 10 E 2 RP-sitdown-hold-op state slrb 10 E 1 RP-sitdown-op2 state src 20 E 0 RP-sitdown-op state s2 10 E 1 RP-sitdown //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence build-c-r state p1op 12 E 1 pk1 state w1 50 W 1 RP-init state p1cl 10 E 2 pk1-cl state p1up 10 E 2 pk1up state p1up2 20 E 2 pk1up2 state put1up 20 E 2 pu1up state put1cl 10 E 2 pu1cl state put1op 10 E 2 pu1op1 state put1op2 10 E 2 pu1op2 state put1upop 10 E 2 put_1_up_op //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence build-c-l state p1op 10 E 1 pk1-l state w1 50 W 1 RP-init state p1cl 10 E 2 pk1-cl-l state p1up 20 E 2 pk1up-l state p1up2 20 E 2 pk1up2-l state put1up 10 E 2 pu1up-l state put1cl 10 E 2 pu1cl-l state put1cl2 10 E 2 pu1cl-l2 state put1op 10 E 2 pu1op-l state put1op2 10 E 2 pu1op-l2 state put1upop 10 E 2 put_1_up_op_l //------------------------------------------------------------------------------------------------------------------------------------------------ Sequence puback-c-l state put1op2 10 E 2 pu1op-l2 state put1op 10 E 2 pu1op-l-3 state put1cl2 10 E 2 pu1cl-l-3 state put1cl 10 E 2 pu1cl-l state put1up 20 E 2 pu1up-l state p1up2 20 E 2 pk1up2-l state p1up 20 E 2 pk1up-l state p1cl 20 E 2 pk1-cl-l3 state p1op 10 E 2 pk1-l //------------------------------------------------------------------------------------------------------------------------------------------------ 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-bow8101 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 hold-wt state leandown 10 E 0 RP-init state src 20 E 0 RP-sitdown-op state slrb 10 E 1 RP-sitdown-op2 state slc 10 E 2 RP-sitdown-hold-op state srlb 12 E 1 RP-sitdown-hold-cl state src2 12 E 1 RP-sitdown-hold-cl2 state lean-back 10 E 1 RP-sitdown-hold2 state sit2 12 E 0 RP-standup-hold0 state sit 8 E 0 RP-standup-hold state sit3 10 E 1 lift1-one state stand 12 E 1 lift2-one state init 16 E 1 lift1-one state l2 12 E 1 lift2-one state l3 16 E 1 lift1-one state s1 12 E 1 lift2-one //------------------------------------------------------------------------------------------------------------------------------------------------ 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 //------------------------------------------------------------------------------------------------------------------------------------------------ ****************** 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-move_left RP-move_left Routine RP-move_right RP-move_right 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 fly_fwd fly_fwd Routine fly_bwd fly_bwd Routine st_right st_right Routine st_left st_left Routine ss_walk_b ss_walk_b Routine hand-open hand-open Routine hand-close hand-close Routine RP-front_up RP-front_up RP-front_up9 Routine HIT_FC_HC HIT_FC_HC Routine HIT_BC_A HIT_BC_A Routine HIT_BC_C HIT_BC_C Routine HIT_BC_L fly_bwd RP-back_up Routine HIT_FC_L HIT_FC_L1 pushup3 Routine flip-fwd flip-fwd RP-back_up Routine ss_right ss_right1 Routine ss_left ss_left1 Routine step0-ma HIT_FC_HA HIT_FC_HB HIT_FC_HC Routine step_ma_left step_ma_left Routine step0_sw_left step0_sw_left Routine step_sw_left step_sw_left Routine step2_sw_left step2_sw_left Routine step2_sw_right step2_sw_right Routine step_sw_right step_sw_right Routine step0_sw_right step0_sw_right Routine step0_ma_left step0_ma_left Routine step2_ma_left step2_ma_left Routine step2_ma_right step2_ma_right Routine step0_ma_right step0_ma_right Routine step_ma_right step_ma_right Routine block_up block_up1 RP-back_up Routine walk-slow-8 walk-slow-8s walk-slow-8r walk-slow-8e Routine bow_fb bow_fwd bow_back Routine lean_dn_bk lean_dn_bk lean_dn_bk2 Routine step-ma step-ma HIT_FC_HC Routine q-walkfast-h q-walkfast-h Routine q-walkfast-h2 q-walkfast-hs q-walkfast-hc q-walkfast-hc q-walkfast-he Routine q-walkfast-h3 q-walkfast-hs q-walkfast-hc q-walkfast-hc q-walkfast-hc q-walkfast-he Routine twist twist Routine build-block build-c-r Routine put-bk-block puback-c-r Routine put-bk-cyl puback-c-l Routine build-cyl build-c-l Routine flip-fwd-backup flip-fwd-backup RP-front_up8 Routine build-pu build-c-r build-c-l puback-c-l puback-c-r Routine flip-fwd-stand flip-fwd-stand4 Routine flip-left flip-left2 Routine fliip-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist flip-fwd-twist-last 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 hold-wt hold-wt Routine hold-wt-back hold-wt-back 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 ****************** 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 step0_sw_right key KEY_35 step_sw_right key KEY_36 RP-sitdown key KEY_37 step0_ma_right key KEY_38 step_ma_right key KEY_39 step2_ma_right key KEY_40 step0_sw_right key KEY_41 step_sw_right 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 lean_dn_bk key KEY_50 RP-sitdown key KEY_51 HIT_BC_A key KEY_52 HIT_BC_C key KEY_53 HIT_BC_L key KEY_54 RP-sitdown key KEY_55 lean_dn_bk 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 step0_sw_left key KEY_63 step_sw_left key KEY_64 RP-sitdown key KEY_65 step0_ma_left key KEY_66 step_ma_left key KEY_67 step2_ma_left key KEY_68 step0_sw_left key KEY_69 step_sw_left 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 RP-turn_right_30 key KEY_75 RP-move_right key KEY_76 RP-turn_right_30 key KEY_77 RP-walk-back key KEY_78 RP-turn_left_30 key KEY_79 RP-move_left key KEY_80 RP-turn_left_30 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 twist key KEY_91 bow_fb key KEY_92 kiss 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 f-swing-mf key KEY_E f-swing-mr 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 build-block key REMOTE_KEY_3 put-bk-block key REMOTE_KEY_4 build-pu key REMOTE_KEY_5 hold-wt key REMOTE_KEY_6 hold-wt-back key REMOTE_KEY_7 flip-fwd-backup key REMOTE_KEY_8 build-cyl key REMOTE_KEY_9 put-bk-cyl key REMOTE_KEY_10 RP-standup key REMOTE_KEY_11 RP-front_up key REMOTE_KEY_12 RP-back_up