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Copy pathDARWINBODYBUILDER.mtnx
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DARWINBODYBUILDER.mtnx
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<?xml version="1.0" encoding="utf-8" standalone="yes"?>
<Root name="R+Motion" version="2.0.0">
<DesignRoot name="DARWIN-MINI" controller="OpenCM9.04">
<skeleton>
<joint motor="XL-320" id="1" enable="True" id2="1" mirror="2" />
<joint motor="XL-320" id="2" enable="True" id2="2" mirror="1" />
<joint motor="XL-320" id="3" enable="True" id2="3" mirror="4" />
<joint motor="XL-320" id="4" enable="True" id2="4" mirror="3" />
<joint motor="XL-320" id="5" enable="True" id2="5" mirror="6" />
<joint motor="XL-320" id="6" enable="True" id2="6" mirror="5" />
<joint motor="XL-320" id="7" enable="True" id2="7" mirror="8" />
<joint motor="XL-320" id="8" enable="True" id2="8" mirror="7" />
<joint motor="XL-320" id="9" enable="True" id2="9" mirror="10" />
<joint motor="XL-320" id="10" enable="True" id2="10" mirror="9" />
<joint motor="XL-320" id="11" enable="True" id2="11" mirror="12" />
<joint motor="XL-320" id="12" enable="True" id2="12" mirror="11" />
<joint motor="XL-320" id="13" enable="True" id2="13" mirror="14" />
<joint motor="XL-320" id="14" enable="True" id2="14" mirror="13" />
<joint motor="XL-320" id="15" enable="True" id2="15" mirror="16" />
<joint motor="XL-320" id="16" enable="True" id2="16" mirror="15" />
</skeleton>
</DesignRoot>
<FlowRoot>
<Flow name="Initial Position" return="-1">
<units>
<unit main="Initial Position" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Get Up" return="-1">
<units>
<unit main="Initial Position" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Get Up" mainSpeed="0.5" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Right Hand Wave" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Right Jab" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Left Jab" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Right Jab" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Left Jab" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Push Up 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Push Up 1-2" mainSpeed="1" loop="5" exit="" exitSpeed="1" callSite="False" />
<unit main="Push Up 1-3" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Left Hand Wave" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Sit" return="-1">
<units>
<unit main="Sit" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Stand Up" return="-1">
<units>
<unit main="Stand Up" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Greet 1" return="-1">
<units>
<unit main="Greet 1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Greet 2" return="-1">
<units>
<unit main="Greet 2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Jab" return="-1">
<units>
<unit main="Right Jab" mainSpeed="1" loop="2" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Hook" return="-1">
<units>
<unit main="Right Hook" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Uppercut" return="-1">
<units>
<unit main="Right Uppercut" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Jab" return="-1">
<units>
<unit main="Left Jab" mainSpeed="1" loop="2" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Hook" return="-1">
<units>
<unit main="Left Hook" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Uppercut" return="-1">
<units>
<unit main="Left Uppercut" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Hand Wave" return="-1">
<units>
<unit main="Right Hand Wave" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Hand Wave" return="-1">
<units>
<unit main="Left Hand Wave" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Turn" return="-1">
<units>
<unit main="Right Turn" mainSpeed="1.1" loop="3" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Turn" return="-1">
<units>
<unit main="Left Turn" mainSpeed="1.1" loop="3" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Sidestep Right" return="-1">
<units>
<unit main="Sidestep Right" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Initial Position" mainSpeed="3" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Sidestep Left" return="-1">
<units>
<unit main="Sidestep Left" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Initial Position" mainSpeed="3" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Advance" return="-1">
<units>
<unit main="Advance 1-1" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Advance 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Reverse" return="-1">
<units>
<unit main="Reverse 1-1" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Reverse 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Front Roll" return="-1">
<units>
<unit main="Front Roll 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Front Roll 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Sit Up" return="-1">
<units>
<unit main="Sit Up 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Sit Up 1-2" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Sit Up 1-3" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Push Up" return="-1">
<units>
<unit main="Push Up 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Push Up 1-2" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Push Up 1-3" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Back Roll" return="-1">
<units>
<unit main="Back Roll 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Back Roll 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Attack 1" return="-1">
<units>
<unit main="Left Attack 1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Attack 1" return="-1">
<units>
<unit main="Right Attack 1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Attack 2" return="-1">
<units>
<unit main="Left Attack 2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Attack 2" return="-1">
<units>
<unit main="Right Attack 2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Front Attack" return="-1">
<units>
<unit main="Front Attack" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Kick" return="-1">
<units>
<unit main="Left Kick" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Kick" return="-1">
<units>
<unit main="Right Kick" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Side Kick" return="-1">
<units>
<unit main="Left Side Kick" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Side Kick" return="-1">
<units>
<unit main="Right Side Kick" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Block 1" return="-1">
<units>
<unit main="Block 1-1" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Block 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Left Block" return="-1">
<units>
<unit main="Left Block" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Block 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Right Block" return="-1">
<units>
<unit main="Right Block" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Block 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Block 2" return="-1">
<units>
<unit main="Block 2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Hand Stand" return="-1">
<units>
<unit main="Hand Stand 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Hand Stand 1-2" mainSpeed="1" loop="3" exit="" exitSpeed="1" callSite="False" />
<unit main="Hand Stand 1-3" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Fast Advance" return="0">
<units>
<unit main="Fast Advance 1" mainSpeed="2" loop="1" exit="Fast Advance 2" exitSpeed="2" callSite="False" />
</units>
</Flow>
<Flow name="Bboy 1" return="-1">
<units>
<unit main="Bboy 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Bboy 1-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Bboy 2" return="-1">
<units>
<unit main="Bboy 2-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Bboy 2-2" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
<Flow name="Horse Dance" return="-1">
<units>
<unit main="Horse Dance 1-1" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-2" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-3" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-4" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-5" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-6" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-7" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-8" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-9" mainSpeed="0.7" loop="1" exit="" exitSpeed="1" callSite="False" />
<unit main="Horse Dance 1-10" mainSpeed="1" loop="1" exit="" exitSpeed="1" callSite="False" />
</units>
</Flow>
</FlowRoot>
<PageRoot>
<Page name="Initial Position">
<param compileSize="1" acceleration="32" softness="4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4" />
<steps>
<step frame="50" pose="0 0 -73.24 73.24 0 0 0 0 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
</steps>
</Page>
<Page name="Get Up">
<param compileSize="1" acceleration="32" softness="4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4" />
<steps>
<step frame="25" pose="-80.86 80.86 2.93 -2.93 -1.76 1.76 -88.48 88.48 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
<step frame="75" pose="-56.84 56.84 -78.22 78.22 -0.88 0.88 -88.48 88.48 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
<step frame="125" pose="-56.84 56.84 -78.22 78.22 -0.88 0.88 -88.48 88.48 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
<step frame="150" pose="-77.05 77.05 11.43 -11.43 -1.76 1.76 -88.48 88.48 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
<step frame="175" pose="85.93 -85.93 3.52 -3.52 -3.22 3.22 -88.48 88.48 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
<step frame="225" pose="85.22 -85.22 -88.48 88.48 -4.1 4.1 -88.48 88.48 -49.45 49.45 114.26 -114.26 60.06 -60.06 -96.97 96.97" />
<step frame="275" pose="85.22 -85.22 -88.48 88.48 -4.1 4.1 -88.48 88.48 -49.45 49.45 114.26 -114.26 60.06 -60.06 -96.97 96.97" />
<step frame="325" pose="85.15 -85.15 -87.6 87.6 0.88 -0.88 0 0 -64.45 64.45 114.26 -114.26 60.06 -60.06 0 0" />
<step frame="400" pose="0 0 -73.24 73.24 0 0 0 0 -26.37 26.37 29.3 -29.3 13.18 -13.18 0 0" />
</steps>
</Page>
<Page name="Sit">
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<Page name="Greet 1">
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<Page name="Right Hook">
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<Page name="Right Uppercut">
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<Page name="Left Hook">
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<Page name="Sidestep Right">
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<Page name="Advance 1-2">
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<Page name="Push Up 1-3">
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