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State machine transition conditions.
| Transition | Condition |
|---|---|
| R0 to R1 or L0 to L1 | Rear thigh angle exceeds lean threshold |
| R1 to R0 or L1 to L0 | Rear thigh angle less than lean threshold |
| R1 to R2 or L1 to L2 | State timer exceeds 200 ms |
| R2 to L0 or L2 to R0 | State timer exceeds 1.1 s |
