<?xml version="1.0"?>
<program>

<robot>
<structure>
<loop elements = "1,3,5,7,9,11,13,15,17,19"/>
<leg elements = "20, 21, 22, 23, 24, 25, 26, 27, 28, 29"/>
</structure>
</robot>

<parameters>
<N init="10" type = "text"/>
<radius init="3" type = "text"/>
</parameters>

<main>
<loop/>
</main>

<behaviors>
<loop>
<wave group = "!loop" phase = "2/N" period = "5"/>
<step group = "leg" phase = "2/N" period = "5"/>
</loop>
</behaviors>

<automata>
<wave states = "bend, hold, straight, hold" times = "1, (radius-1), 1, (N/2-radius-1)"/>
<step states = "up, hold, straight, hold" times = "1, (radius-1), 1, (N/2-radius-1)"/>
</automata>

<states>
<up angles = "30"/>
<bend angles = "180/radius"/>
<straight angles = "0"/>
<hold angles = "@"/>
</states>

</program>


