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data.xml
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<?xml version="1.0" encoding="utf-8" standalone="yes"?>
<Root name="R+Motion" version="2.0.0">
<DesignRoot name="Humanoid A-type" controller="CM-530">
<skeleton>
<joint motor="AX-12A" id="1" enable="True" id2="1" mirror="2" />
<joint motor="AX-12A" id="2" enable="True" id2="2" mirror="1" />
<joint motor="AX-12A" id="3" enable="True" id2="3" mirror="4" />
<joint motor="AX-12A" id="4" enable="True" id2="4" mirror="3" />
<joint motor="AX-12A" id="5" enable="True" id2="5" mirror="6" />
<joint motor="AX-12A" id="6" enable="True" id2="6" mirror="5" />
<joint motor="AX-12A" id="7" enable="True" id2="7" mirror="8" />
<joint motor="AX-12A" id="8" enable="True" id2="8" mirror="7" />
<joint motor="AX-12A" id="9" enable="True" id2="9" mirror="10" />
<joint motor="AX-12A" id="10" enable="True" id2="10" mirror="9" />
<joint motor="AX-12A" id="11" enable="True" id2="11" mirror="12" />
<joint motor="AX-12A" id="12" enable="True" id2="12" mirror="11" />
<joint motor="AX-12A" id="13" enable="True" id2="13" mirror="14" />
<joint motor="AX-12A" id="14" enable="True" id2="14" mirror="13" />
<joint motor="AX-12A" id="15" enable="True" id2="15" mirror="16" />
<joint motor="AX-12A" id="16" enable="True" id2="16" mirror="15" />
<joint motor="AX-12A" id="17" enable="True" id2="17" mirror="18" />
<joint motor="AX-12A" id="18" enable="True" id2="18" mirror="17" />
</skeleton>
</DesignRoot>
<FlowRoot>
<Flow name="1 Bow" return="-1">
<units>
<unit main="1 Bow" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="2 Bravo" return="-1">
<units>
<unit main="2 Bravo" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
<unit main="3 " mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="4 " mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="3 Rap chest" return="-1">
<units>
<unit main="5 Rap chest" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
<unit main="6 " mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="4 Scratch head" return="-1">
<units>
<unit main="7 Scratch head" mainSpeed="0.8" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="5 Push up" return="-1">
<units>
<unit main="8 Push up" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
<unit main="9 " mainSpeed="1.5" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="10 " mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="6 Hand standing" return="-1">
<units>
<unit main="11 Hand standing" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="True" />
<unit main="12 " mainSpeed="1" loop="2" exit="" exitSpeed="1" callSite="False" />
<unit main="13 " mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="7 R blocking" return="0">
<units>
<unit main="14 R blocking" mainSpeed="1.2" loop="1" exit="15 " exitSpeed="1.5" callSite="True" />
</units>
</Flow>
<Flow name="8 L blocking" return="0">
<units>
<unit main="16 L blocking" mainSpeed="1.2" loop="1" exit="17 " exitSpeed="1.5" callSite="True" />
</units>
</Flow>
<Flow name="9 L kick" return="-1">
<units>
<unit main="18 L kick" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="10 R kick" return="-1">
<units>
<unit main="19 R kick" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="11 R attack" return="-1">
<units>
<unit main="20 R attack" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="12 L attack" return="-1">
<units>
<unit main="21 L attack" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="13 F attack" return="-1">
<units>
<unit main="22 F attack" mainSpeed="1.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="14 Defence" return="0">
<units>
<unit main="23 Defence" mainSpeed="1" loop="1" exit="24 " exitSpeed="0.8" callSite="True" />
</units>
</Flow>
<Flow name="15 Sit down" return="-1">
<units>
<unit main="25 Sit down" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="16 Stand up" return="-1">
<units>
<unit main="26 Stand up" mainSpeed="0.8" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="17 F getup" return="-1">
<units>
<unit main="27 F getup" mainSpeed="1.6" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="18 B getup " return="-1">
<units>
<unit main="28 B getup " mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="19 Clap ready" return="-1">
<units>
<unit main="29 Clap ready" mainSpeed="0.5" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="20 Clapping" return="-1">
<units>
<unit main="30 Clapping" mainSpeed="2" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="21 Walk Ready" return="-1">
<units>
<unit main="31 Walk Ready" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="22 F_S_L" return="2">
<units>
<unit main="32 F_S_L" mainSpeed="2.1" loop="1" exit="33 " exitSpeed="2.1" callSite="True" />
<unit main="33 " mainSpeed="2.1" loop="1" exit="42 F_E_R" exitSpeed="2.1" callSite="True" />
<unit main="38 F_M_R" mainSpeed="2.7" loop="1" exit="39 " exitSpeed="2.7" callSite="True" />
<unit main="39 " mainSpeed="2.7" loop="1" exit="40 F_E_L" exitSpeed="2.1" callSite="True" />
<unit main="36 F_M_L" mainSpeed="2.7" loop="1" exit="37 " exitSpeed="2.7" callSite="True" />
<unit main="37 " mainSpeed="2.7" loop="1" exit="42 F_E_R" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
<Flow name="23 F_S_R" return="2">
<units>
<unit main="34 F_S_R" mainSpeed="2.1" loop="1" exit="35 " exitSpeed="2.1" callSite="True" />
<unit main="35 " mainSpeed="2.1" loop="1" exit="40 F_E_L" exitSpeed="2.1" callSite="True" />
<unit main="36 F_M_L" mainSpeed="2.7" loop="1" exit="37 " exitSpeed="2.7" callSite="True" />
<unit main="37 " mainSpeed="2.7" loop="1" exit="42 F_E_R" exitSpeed="2.1" callSite="True" />
<unit main="38 F_M_R" mainSpeed="2.7" loop="1" exit="39 " exitSpeed="2.7" callSite="True" />
<unit main="39 " mainSpeed="2.7" loop="1" exit="40 F_E_L" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
<Flow name="24 F_E_L" return="-1">
<units>
<unit main="40 F_E_L" mainSpeed="2.1" loop="1" exit="41 " exitSpeed="2.1" callSite="True" />
<unit main="41 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="25 F_E_R" return="-1">
<units>
<unit main="42 F_E_R" mainSpeed="2.1" loop="1" exit="43 " exitSpeed="2.1" callSite="True" />
<unit main="43 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="26 B_S_L" return="2">
<units>
<unit main="44 B_S_L" mainSpeed="2.1" loop="1" exit="45 " exitSpeed="2.1" callSite="True" />
<unit main="45 " mainSpeed="2.1" loop="1" exit="54 B_E_R" exitSpeed="2.1" callSite="True" />
<unit main="50 B_M_R" mainSpeed="2.7" loop="1" exit="51 " exitSpeed="2.7" callSite="True" />
<unit main="51 " mainSpeed="2.7" loop="1" exit="52 B_E_L" exitSpeed="2.1" callSite="True" />
<unit main="48 B_M_L" mainSpeed="2.7" loop="1" exit="49 " exitSpeed="2.7" callSite="True" />
<unit main="49 " mainSpeed="2.7" loop="1" exit="54 B_E_R" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
<Flow name="27 B_S_R" return="2">
<units>
<unit main="46 B_S_R" mainSpeed="2.1" loop="1" exit="47 " exitSpeed="2.1" callSite="True" />
<unit main="47 " mainSpeed="2.1" loop="1" exit="52 B_E_L" exitSpeed="2.1" callSite="True" />
<unit main="48 B_M_L" mainSpeed="2.7" loop="1" exit="49 " exitSpeed="2.7" callSite="True" />
<unit main="49 " mainSpeed="2.7" loop="1" exit="54 B_E_R" exitSpeed="2.1" callSite="True" />
<unit main="50 B_M_R" mainSpeed="2.7" loop="1" exit="51 " exitSpeed="2.7" callSite="True" />
<unit main="51 " mainSpeed="2.7" loop="1" exit="52 B_E_L" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
<Flow name="28 B_E_L" return="-1">
<units>
<unit main="52 B_E_L" mainSpeed="2.1" loop="1" exit="53 " exitSpeed="2.1" callSite="True" />
<unit main="53 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="29 B_E_R" return="-1">
<units>
<unit main="54 B_E_R" mainSpeed="2.1" loop="1" exit="55 " exitSpeed="2.1" callSite="True" />
<unit main="55 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="30 LT_S_L" return="2">
<units>
<unit main="56 LT_S_L" mainSpeed="2.1" loop="1" exit="57 " exitSpeed="2.1" callSite="True" />
<unit main="57 " mainSpeed="2.1" loop="1" exit="66 LT_E_R" exitSpeed="2.1" callSite="True" />
<unit main="62 LT_M_R" mainSpeed="2.7" loop="1" exit="63 " exitSpeed="2.7" callSite="True" />
<unit main="63 " mainSpeed="2.7" loop="1" exit="60 LT_M_L" exitSpeed="2.7" callSite="True" />
<unit main="60 LT_M_L" mainSpeed="2.7" loop="1" exit="61 " exitSpeed="2.7" callSite="True" />
<unit main="61 " mainSpeed="2.7" loop="1" exit="66 LT_E_R" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
<Flow name="31 LT_S_R" return="2">
<units>
<unit main="58 LT_S_R" mainSpeed="2.1" loop="1" exit="59 " exitSpeed="2.1" callSite="True" />
<unit main="59 " mainSpeed="2.1" loop="1" exit="60 LT_M_L" exitSpeed="2.7" callSite="True" />
<unit main="60 LT_M_L" mainSpeed="2.7" loop="1" exit="61 " exitSpeed="2.7" callSite="True" />
<unit main="61 " mainSpeed="2.7" loop="1" exit="66 LT_E_R" exitSpeed="2.1" callSite="True" />
<unit main="62 LT_M_R" mainSpeed="2.7" loop="1" exit="63 " exitSpeed="2.7" callSite="True" />
<unit main="63 " mainSpeed="2.7" loop="1" exit="60 LT_M_L" exitSpeed="2.7" callSite="True" />
</units>
</Flow>
<Flow name="32 LT_E_L" return="-1">
<units>
<unit main="64 LT_E_L" mainSpeed="2.1" loop="1" exit="65 " exitSpeed="2.1" callSite="True" />
<unit main="65 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="33 LT_E_R" return="-1">
<units>
<unit main="66 LT_E_R" mainSpeed="2.1" loop="1" exit="67 " exitSpeed="2.1" callSite="True" />
<unit main="67 " mainSpeed="2.1" loop="1" exit="" exitSpeed="1" callSite="True" />
</units>
</Flow>
<Flow name="34 RT_S_L" return="2">
<units>
<unit main="68 RT_S_L" mainSpeed="2.1" loop="1" exit="69 " exitSpeed="2.1" callSite="True" />
<unit main="69 " mainSpeed="2.1" loop="1" exit="74 RT_M_R" exitSpeed="2.7" callSite="True" />
<unit main="74 RT_M_R" mainSpeed="2.7" loop="1" exit="75 " exitSpeed="2.7" callSite="True" />
<unit main="75 " mainSpeed="2.7" loop="1" exit="76 RT_E_L" exitSpeed="2.1" callSite="True" />
<unit main="72 RT_M_L" mainSpeed="2.7" loop="1" exit="73 " exitSpeed="2.7" callSite="True" />
<unit main="73 " mainSpeed="2.7" loop="1" exit="74 RT_M_R" exitSpeed="2.7" callSite="True" />
</units>
</Flow>
<Flow name="35 RT_S_R" return="2">
<units>
<unit main="70 RT_S_R" mainSpeed="2.1" loop="1" exit="71 " exitSpeed="2.1" callSite="True" />
<unit main="71 " mainSpeed="2.1" loop="1" exit="76 RT_E_L" exitSpeed="2.1" callSite="True" />
<unit main="72 RT_M_L" mainSpeed="2.7" loop="1" exit="73 " exitSpeed="2.7" callSite="True" />
<unit main="73 " mainSpeed="2.7" loop="1" exit="74 RT_M_R" exitSpeed="2.7" callSite="True" />
<unit main="74 RT_M_R" mainSpeed="2.7" loop="1" exit="75 " exitSpeed="2.7" callSite="True" />
<unit main="75 " mainSpeed="2.7" loop="1" exit="76 RT_E_L" exitSpeed="2.1" callSite="True" />
</units>
</Flow>
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