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angles.json
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angles.json
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{
"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"
},
{
"motor": "AX-12A",
"id": "2",
"enable": "True",
"id2": "2",
"mirror": "1"
},
{
"motor": "AX-12A",
"id": "3",
"enable": "True",
"id2": "3",
"mirror": "4"
},
{
"motor": "AX-12A",
"id": "4",
"enable": "True",
"id2": "4",
"mirror": "3"
},
{
"motor": "AX-12A",
"id": "5",
"enable": "True",
"id2": "5",
"mirror": "6"
},
{
"motor": "AX-12A",
"id": "6",
"enable": "True",
"id2": "6",
"mirror": "5"
},
{
"motor": "AX-12A",
"id": "7",
"enable": "True",
"id2": "7",
"mirror": "8"
},
{
"motor": "AX-12A",
"id": "8",
"enable": "True",
"id2": "8",
"mirror": "7"
},
{
"motor": "AX-12A",
"id": "9",
"enable": "True",
"id2": "9",
"mirror": "10"
},
{
"motor": "AX-12A",
"id": "10",
"enable": "True",
"id2": "10",
"mirror": "9"
},
{
"motor": "AX-12A",
"id": "11",
"enable": "True",
"id2": "11",
"mirror": "12"
},
{
"motor": "AX-12A",
"id": "12",
"enable": "True",
"id2": "12",
"mirror": "11"
},
{
"motor": "AX-12A",
"id": "13",
"enable": "True",
"id2": "13",
"mirror": "14"
},
{
"motor": "AX-12A",
"id": "14",
"enable": "True",
"id2": "14",
"mirror": "13"
},
{
"motor": "AX-12A",
"id": "15",
"enable": "True",
"id2": "15",
"mirror": "16"
},
{
"motor": "AX-12A",
"id": "16",
"enable": "True",
"id2": "16",
"mirror": "15"
},
{
"motor": "AX-12A",
"id": "17",
"enable": "True",
"id2": "17",
"mirror": "18"
},
{
"motor": "AX-12A",
"id": "18",
"enable": "True",
"id2": "18",
"mirror": "17"
}
]
}
},
"FlowRoot": {
"Flow": [
{
"name": "1 Bow",
"return": "-1",
"units": {
"unit":[ {
"main": "1 Bow",
"mainSpeed": "1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "2 Bravo",
"return": "-1",
"units": {
"unit": [
{
"main": "2 Bravo",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
},
{
"main": "3 ",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
},
{
"main": "4 ",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
}
]
}
},
{
"name": "3 Rap chest",
"return": "-1",
"units": {
"unit": [
{
"main": "5 Rap chest",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
},
{
"main": "6 ",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
}
]
}
},
{
"name": "4 Scratch head",
"return": "-1",
"units": {
"unit":[ {
"main": "7 Scratch head",
"mainSpeed": "0.8",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "5 Push up",
"return": "-1",
"units": {
"unit": [
{
"main": "8 Push up",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
},
{
"main": "9 ",
"mainSpeed": "1.5",
"loop": "3",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
},
{
"main": "10 ",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
}
]
}
},
{
"name": "6 Hand standing",
"return": "-1",
"units": {
"unit": [
{
"main": "11 Hand standing",
"mainSpeed": "1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
},
{
"main": "12 ",
"mainSpeed": "1",
"loop": "2",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
},
{
"main": "13 ",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "False"
}
]
}
},
{
"name": "7 R blocking",
"return": "0",
"units": {
"unit":[ {
"main": "14 R blocking",
"mainSpeed": "1.2",
"loop": "1",
"exit": "15 ",
"exitSpeed": "1.5",
"callSite": "True"
}
]
}
},
{
"name": "8 L blocking",
"return": "0",
"units": {
"unit":[ {
"main": "16 L blocking",
"mainSpeed": "1.2",
"loop": "1",
"exit": "17 ",
"exitSpeed": "1.5",
"callSite": "True"
}
]
}
},
{
"name": "9 L kick",
"return": "-1",
"units": {
"unit":[ {
"main": "18 L kick",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "10 R kick",
"return": "-1",
"units": {
"unit":[ {
"main": "19 R kick",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "11 R attack",
"return": "-1",
"units": {
"unit": [{
"main": "20 R attack",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "12 L attack",
"return": "-1",
"units": {
"unit":[ {
"main": "21 L attack",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "13 F attack",
"return": "-1",
"units": {
"unit":[ {
"main": "22 F attack",
"mainSpeed": "1.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "14 Defence",
"return": "0",
"units": {
"unit":[ {
"main": "23 Defence",
"mainSpeed": "1",
"loop": "1",
"exit": "24 ",
"exitSpeed": "0.8",
"callSite": "True"
}
]
}
},
{
"name": "15 Sit down",
"return": "-1",
"units": {
"unit":[ {
"main": "25 Sit down",
"mainSpeed": "1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "16 Stand up",
"return": "-1",
"units": {
"unit":[ {
"main": "26 Stand up",
"mainSpeed": "0.8",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "17 F getup",
"return": "-1",
"units": {
"unit":[ {
"main": "27 F getup",
"mainSpeed": "1.6",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "18 B getup ",
"return": "-1",
"units": {
"unit":[ {
"main": "28 B getup ",
"mainSpeed": "1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "19 Clap ready",
"return": "-1",
"units": {
"unit":[ {
"main": "29 Clap ready",
"mainSpeed": "0.5",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "20 Clapping",
"return": "-1",
"units": {
"unit":[ {
"main": "30 Clapping",
"mainSpeed": "2",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"name": "21 Walk Ready",
"return": "-1",
"units": {
"unit": [{
"main": "31 Walk Ready",
"mainSpeed": "1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"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"
},
{
"main": "33 ",
"mainSpeed": "2.1",
"loop": "1",
"exit": "42 F_E_R",
"exitSpeed": "2.1",
"callSite": "True"
},
{
"main": "38 F_M_R",
"mainSpeed": "2.7",
"loop": "1",
"exit": "39 ",
"exitSpeed": "2.7",
"callSite": "True"
},
{
"main": "39 ",
"mainSpeed": "2.7",
"loop": "1",
"exit": "40 F_E_L",
"exitSpeed": "2.1",
"callSite": "True"
},
{
"main": "36 F_M_L",
"mainSpeed": "2.7",
"loop": "1",
"exit": "37 ",
"exitSpeed": "2.7",
"callSite": "True"
},
{
"main": "37 ",
"mainSpeed": "2.7",
"loop": "1",
"exit": "42 F_E_R",
"exitSpeed": "2.1",
"callSite": "True"
}
]
}
},
{
"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"
},
{
"main": "35 ",
"mainSpeed": "2.1",
"loop": "1",
"exit": "40 F_E_L",
"exitSpeed": "2.1",
"callSite": "True"
},
{
"main": "36 F_M_L",
"mainSpeed": "2.7",
"loop": "1",
"exit": "37 ",
"exitSpeed": "2.7",
"callSite": "True"
},
{
"main": "37 ",
"mainSpeed": "2.7",
"loop": "1",
"exit": "42 F_E_R",
"exitSpeed": "2.1",
"callSite": "True"
},
{
"main": "38 F_M_R",
"mainSpeed": "2.7",
"loop": "1",
"exit": "39 ",
"exitSpeed": "2.7",
"callSite": "True"
},
{
"main": "39 ",
"mainSpeed": "2.7",
"loop": "1",
"exit": "40 F_E_L",
"exitSpeed": "2.1",
"callSite": "True"
}
]
}
},
{
"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"
},
{
"main": "41 ",
"mainSpeed": "2.1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"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"
},
{
"main": "43 ",
"mainSpeed": "2.1",
"loop": "1",
"exit": "",
"exitSpeed": "1",
"callSite": "True"
}
]
}
},
{
"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"
},
{
"main": "45 ",
"mainSpeed": "2.1",
"loop": "1",
"exit": "54 B_E_R",
"exitSpeed": "2.1",
"callSite": "True"
},
{
"main": "50 B_M_R",
"mainSpeed": "2.7",
"loop": "1",
"exit": "51 ",
"exitSpeed": "2.7",
"callSite": "True"
},
{
"main": "51 ",
"mainSpeed": "2.7",
"loop": "1",
"exit": "52 B_E_L",
"exitSpeed": "2.1",
"callSite": "True"
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