/* P_Def_act_1: Fichier defaut de positions pour act_1 */
/* init_positions("P_Def_act_2"); */
/* Nb_Positions est un carre -> Mappes de Kohonen */
/* 05-10-2003 */

Gestes=Positions=NIL;
DEBOUT=0;
JG_AV_1=1;
JG_AV_2=2;
JD_AR_1=3;
JD_AV_1=4;
JD_AV_2=5;
JGD_PLI=6;
JG_PLI=7;
JD_PLI=8;
JG_EC=9;
JD_EC=10;
JGD_EC=11;
JG_AV_3=12;
JG_AR_3=13;
JD_AV_3=14;
JD_AR_3=15;

MARCHER=0;
PLIER_GD=1;
PLIER_G=2;
PLIER_D=3;

/* POSITIONS, axes: Fe_g=-.5,0,1 Fe_d=.5,0,0 
sens=(arriere), -1(avant) Hu_g=sens,0,1  Hu_d=-sens,0,1 */
/* Positions=Ti_g		Fe_g			Hu_g			Ti_d			Fe_d			Hu_d */

/* 0: Debout */
Positions,=	0,0,0,1	,0,0,0,1		,0,0,0,1		,0,0,0,1		,0,0,0,1		,0,0,0,1;

/* 1:  JG_AV_1 */
Positions,=.3,0,0,1	,-.2,-.5,0,1	,0,0,0,1		,1.5,0,0,1		,-1.2,.5,0,1	,1.5,0,0,1;

/* 2:  JG_AV_2 */
Positions,=0,0,0,1	,.3,0,0,1		,-1.2,0,0,1		,0,0,0,1		,-.3,0,0,1		,1.2,0,0,1;

/* 3: JD_AR_1 */
Positions,=1.5,0,0,1	,.6,0,0,1		,-1.2,0,0,1		,.3,0,0,1		,-.2,0,0,1		,0,0,0,1;

/* 4: JD_AV_1 */
Positions,=1.5,0,0,1	,-1.2,-.5,1,1	,1.2,0,0,1		,.3,0,0,1		,-.2,0,0,1		,0,0,0,1;

/* 5: JD_AV_2 */
Positions,=0,0,0,1	,-.3,0,0,1		,1.2,0,0,1		,0,0,0,1		,.3,0,0,1		,-1.2,0,0,1;

/* 6: JGD_PLI */
Positions,=1.5,0,0,1	,-.6,-.5,0,1	,-1.5,0,0,1		,1.5,0,0,1		,-.6,.5,0,1		,-1.5,0,0,1;

/* 7: JG_PLI */
Positions,=1.5,0,0,1	,-.6,0,0,1		,-1.5,0,0,1		,0,0,0,1		,-1.2,.5,0,1	,1.5,0,0,1;

/* 8: JD_PLI */
Positions,=0,0,0,1	,-1.2,-.5,0,1	,1.5,0,0,1		,1.5,0,0,1		,-.6,0,0,1		,-1.5,0,0,1;

/* 9: JG_EC */
Positions,=.3,0,0,1	,-.2,0,0,1		,3,1,0,.1		,.8,0,0,1		,-1.2,1,0,0		,-3,1,0,.1;

/* 10: JD_EC */
Positions,=.8,0,0,1	,1.2,1,0,0		,3,1,0,.1		,.3,0,0,1		,-.2,0,0,1		,-3,1,0,.1;

/* 11: JGD_EC */
Positions,=0,0,0,1	,.2,1,0,0		,2,1,0,.1		,0,0,0,1		,-.2,1,0,0		,-2,1,0,.1;

/* 12: JG_AV_3 */
Positions,=.3,0,0,1	,-.2,0,0,1		,-1.5,0,0,1		,0,0,0,1		,-1.5,.5,0,1	,-1.5,0,0,1;

/* 13: JG_AR_3 */
Positions,=.3,0,0,1	,-.2,0,0,1		,1.5,0,0,1		,.5,0,0,1		,1.5,0,0,1		,1.5,0,0,1;

/* 14: JD_AV_3 */
Positions,=0,0,0,1	,-1.5,-.5,0,1	,-1.5,0,0,1		,.3,0,0,1		,-.2,0,0,1		,-1.5,0,0,1;

/* 15: JD_AR_3 */
Positions,=.5,0,0,1	,1.5,0,0,1		,1.5,0,0,1		,.3,0,0,1		,-.2,0,0,1		,1.5,0,0,1;

/* 16: RAP_1 */
Positions,=.3,0,0,1	,-.3,0,0,1		,-1.5,0,0,1		,1.5,0,0,1		,-1.5,.5,0,1	,1.5,0,0,1;

/* 17: RAP_2 */
Positions,=1.5,0,0,1	,-1.5,-.5,0,1	,1.5,0,0,1		,.3,0,0,1		,-.3,0,0,1		,-1.5,0,0,1;

/* 18: RAP_3 */
Positions,=.3,0,0,1	,-.3,0,0,1		,1.5,0,0,1		,.8,0,0,1		,.3,0,0,1		,-1.5,0,0,1;

/* 19: RAP_4 */
Positions,=.8,0,0,1	,.3,0,0,1		,-1.5,0,0,1		,.8,0,0,1		,-.3,0,0,1		,-1.5,0,0,1;

/* 20: RAP_5 */
Positions,=0,0,0,1	,0,0,0,1		,-.3,0,0,1		,0,0,0,1		,-2,.5,0,1		,3,-1,0,1;

/* 21: RAP_6 */
Positions,=0,0,0,1	,-2,-.5,0,1		,3,1,0,1		,0,0,0,1		,0,0,0,1		,-.3,0,0,1;

/* 22: RAP_7 */
Positions,=.3,0,0,1	,0,0,0,1		,2,0,0,1		,.3,0,0,1		,0,0,0,1		,2,0,0,1;

/* 23: RAP_8 */
Positions,=.25,0,0,1	,-.5,0,0,1		,-2,0,0,1		,.25,0,0,1		,-.5,0,0,1		,-2,0,0,1;

/* 24: RAP_9 */
Positions,=.3,0,0,1	,-.3,0,0,1		,.5,1,0,1		,.3,0,0,1		,-.3,0,0,1		,-.3,0,0,1;

/* GESTES (n<=3 ??? BUG ???) */
/* Gestes=n,p1,p2,...,pn,... */

/* MARCHER */
Gestes,=5,DEBOUT,JG_AV_1,JG_AV_2,JD_AR_1,JD_AV_2;

/* PLIER_GD */
Gestes,=2,DEBOUT,JGD_PLI;

/* PLIER_G */
Gestes,=2,DEBOUT,JG_PLI;

/* PLIER_D */
Gestes,=2,DEBOUT,JD_PLI;

/* ECART_G */
Gestes,=2,DEBOUT,JG_EC;

/* ECART_D */
Gestes,=2,DEBOUT,JD_EC;

/* ECART_G */
Gestes,=2,DEBOUT,JGD_EC;

Gestes,=2,DEBOUT,JG_AV_3;
Gestes,=2,DEBOUT,JG_AR_3;
Gestes,=2,DEBOUT,JD_AV_3;
Gestes,=2,DEBOUT,JD_AR_3;

/* Rapidite: Rap=n,p1,p2,...,pn */
Rap0=0,1,3,4,6,7,8,9,10,13,14,15,16,17,18,19,20,21,22,23,24;Rap0=(dim(Rap0)),Rap0;
Rap1=0,1,2,3,4,5,6,7,8,9,10,12,13,14,15;Rap1=(dim(Rap1)),Rap1;
Rap2=0,2,5,11;Rap2=(dim(Rap2)),Rap2;

/* END */