<?xml version="1.0"?>
<program>

<robot file = "xml/robot/man.xml"/>

<controls>
<cycleTime init = "5" min = "1" max = "12"/>
</controls>

<main>
<crawl/>
</main>

<behaviors>
<crawl>
<armwave group = "!leftarm" offset = "0" period = "$cycleTime"/>
<armwave group = "rightarm" offset = "0.25" period = "$cycleTime"/>
<legwave group = "!leftleg" offset = "0.5" period = "$cycleTime"/>
<legwave group = "rightleg" offset = "0.75" period = "$cycleTime"/>
</crawl>
</behaviors>

<automata>
<armwave states = "arm_back, arm_forward, arm_down1, arm_down2" times = ".1, .1, .6, .1"/>
<legwave states = "leg_forward, leg_backward" times = ".8, .2"/>
</automata>

<states>
<arm_back angles = "-30, 2, -3"/>
<arm_forward angles = "28, 0, -3"/>
<arm_down1 angles = "27, 41, -7"/>
<arm_down2 angles = "-30, 40, -11"/>
<leg_forward angles = "60, -60, 0"/>
<leg_backward angles = "0, 0, 0"/>
</states>

</program>


