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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0" encoding="UTF-8" ?> | ||
| <ChoregrapheProject xmlns="http://www.aldebaran-robotics.com/schema/choregraphe/project.xsd" xar_version="3"> | ||
| <Box name="root" id="-1" localization="8" tooltip="Root box of Choregraphe's behavior. Highest level possible." x="0" y="0"> | ||
| <bitmap>media/images/box/root.png</bitmap> | ||
| <script language="4"> | ||
| <content> | ||
| <![CDATA[]]> | ||
| </content> | ||
| </script> | ||
| <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" /> | ||
| <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" /> | ||
| <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" /> | ||
| <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" /> | ||
| <Timeline enable="0"> | ||
| <BehaviorLayer name="behavior_layer1"> | ||
| <BehaviorKeyframe name="keyframe1" index="1"> | ||
| <Diagram> | ||
| <Box name="Timeline" id="1" localization="8" tooltip="This box is empty (contains a single motion layer with no motor position
defined in it) and should be used to create any animation you would like." x="465" y="217"> | ||
| <bitmap>media/images/box/movement/move.png</bitmap> | ||
| <script language="4"> | ||
| <content> | ||
| <![CDATA[]]> | ||
| </content> | ||
| </script> | ||
| <Input name="onLoad" type="1" type_size="1" nature="0" inner="1" tooltip="Signal sent when diagram is loaded." id="1" /> | ||
| <Input name="onStart" type="1" type_size="1" nature="2" inner="0" tooltip="Box behavior starts when a signal is received on this input." id="2" /> | ||
| <Input name="onStop" type="1" type_size="1" nature="3" inner="0" tooltip="Box behavior stops when a signal is received on this input." id="3" /> | ||
| <Output name="onStopped" type="1" type_size="1" nature="1" inner="0" tooltip="Signal sent when box behavior is finished." id="4" /> | ||
| <Timeline enable="1" fps="25" start_frame="1" end_frame="-1" size="70"> | ||
| <BehaviorLayer name="behavior_layer1"> | ||
| <BehaviorKeyframe name="keyframe1" index="1"> | ||
| <Diagram /> | ||
| </BehaviorKeyframe> | ||
| </BehaviorLayer> | ||
| <ActuatorList model="nao"> | ||
| <ActuatorCurve name="value" actuator="HeadPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-8.00056" /> | ||
| <Key frame="62" value="-8.00056" /> | ||
| <Key frame="70" value="-8.00056" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="HeadYaw" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0" /> | ||
| <Key frame="70" value="0" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LAnklePitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-19.5144" /> | ||
| <Key frame="62" value="-19.5144" /> | ||
| <Key frame="70" value="-19.5144" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LAnkleRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0.0902951" /> | ||
| <Key frame="70" value="0.0902951" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LElbowRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-68.641" /> | ||
| <Key frame="62" value="-38.0547" /> | ||
| <Key frame="70" value="-38.0547" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LElbowYaw" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-76.644" /> | ||
| <Key frame="62" value="-74.6225" /> | ||
| <Key frame="70" value="-74.6225" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LHand" recordable="0" mute="0" unit="1"> | ||
| <Key frame="38" value="0.2736" /> | ||
| <Key frame="62" value="0.2736" /> | ||
| <Key frame="70" value="0.8688" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LHipPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-26.0135" /> | ||
| <Key frame="62" value="-26.0135" /> | ||
| <Key frame="70" value="-26.0135" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LHipRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0" /> | ||
| <Key frame="70" value="0" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LHipYawPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0" /> | ||
| <Key frame="70" value="0" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LKneePitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="40.252" /> | ||
| <Key frame="62" value="40.252" /> | ||
| <Key frame="70" value="40.252" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LShoulderPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="56.0725" /> | ||
| <Key frame="62" value="21.9705" /> | ||
| <Key frame="70" value="21.9705" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LShoulderRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="51.0627" /> | ||
| <Key frame="62" value="11.3356" /> | ||
| <Key frame="70" value="11.3356" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="LWristYaw" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="14.0603" /> | ||
| <Key frame="62" value="-38.6748" /> | ||
| <Key frame="70" value="-38.6748" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RAnklePitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-19.5975" /> | ||
| <Key frame="62" value="-19.5975" /> | ||
| <Key frame="70" value="-19.5975" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RAnkleRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0" /> | ||
| <Key frame="70" value="0" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RElbowRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="55.9015" /> | ||
| <Key frame="62" value="55.9015" /> | ||
| <Key frame="70" value="55.9015" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RElbowYaw" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="78.4849" /> | ||
| <Key frame="62" value="78.4849" /> | ||
| <Key frame="70" value="78.4849" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RHand" recordable="0" mute="0" unit="1"> | ||
| <Key frame="38" value="0.2616" /> | ||
| <Key frame="62" value="0.2616" /> | ||
| <Key frame="70" value="0.2616" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RHipPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-25.491" /> | ||
| <Key frame="62" value="-25.491" /> | ||
| <Key frame="70" value="-25.491" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RHipRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="-0.700723" /> | ||
| <Key frame="70" value="-0.700723" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RHipYawPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0" /> | ||
| <Key frame="62" value="0" /> | ||
| <Key frame="70" value="0" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RKneePitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="40.081" /> | ||
| <Key frame="62" value="39.8174" /> | ||
| <Key frame="70" value="39.8174" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RShoulderPitch" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="82.4448" /> | ||
| <Key frame="62" value="82.4448" /> | ||
| <Key frame="70" value="82.4448" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RShoulderRoll" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="-13.4498" /> | ||
| <Key frame="62" value="-13.4498" /> | ||
| <Key frame="70" value="-13.4498" /> | ||
| </ActuatorCurve> | ||
| <ActuatorCurve name="value" actuator="RWristYaw" recordable="0" mute="0" unit="0"> | ||
| <Key frame="38" value="0.964409" /> | ||
| <Key frame="62" value="0.964409" /> | ||
| <Key frame="70" value="0.964409" /> | ||
| </ActuatorCurve> | ||
| </ActuatorList> | ||
| </Timeline> | ||
| </Box> | ||
| <Link inputowner="1" indexofinput="2" outputowner="0" indexofoutput="2" /> | ||
| <Link inputowner="0" indexofinput="4" outputowner="1" indexofoutput="4" /> | ||
| </Diagram> | ||
| </BehaviorKeyframe> | ||
| </BehaviorLayer> | ||
| </Timeline> | ||
| </Box> | ||
| </ChoregrapheProject> |
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