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# TiViPE Textual Robotics Language. 
# Copyright (c) 2016, TiViPE, All rights reserved.
# Url:    www.tivipe.com
# Email:  tino@tivipe.com
# Author: Tino Lourens
# Date:   09 Sep 2016
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# Enable motor stiffness
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wait(2000)
&
stiff (1, 500, 0)
&
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# goto to all available postures
# Crouch LyingBack LyingBelly Sit (SitOnChair) SitRelax Stand StandInit 
# StandZero and back to Crouch 
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say(moving_to_posture_crouch, 80, English)
&
posture(Crouch)
&
say(moving_to_posture_lying_back)
&
posture(LyingBack)
&
say(moving_to_posture_lying_belly)
&
posture(LyingBelly)
&
say(moving_to_posture_sit)
&
posture(Sit)
&
say(moving_to_posture_sit_relax)
&
posture(SitRelax)
&
say(moving_to_posture_stand)
&
posture(Stand)
&
say(moving_to_posture_stand_init)
&
posture(StandInit)
&
say(moving_to_posture_stand_zero)
&
posture(StandZero)
&
say(moving_to_posture_crouch)
&
posture(Crouch)
&
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# Relax motor stiffness
#------------------------------------------------------------------------------
stiff(0, 500, 0)
&
say(ready)
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# End of program
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