local mot={};

mot.servos={
1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,};
mot.keyframes={  {
    angles={
0,0,3.1395473458726,0.066472500808378,-2.6589000323351,0.020453077171809,-0.066472500808378,-0.27100327252646,0.42440135131503,-1.0533334743481,-0.015339807878856,-0.020453077171809,0.066472500808378,-0.27100327252646,0.42440135131503,-1.0533334743481,0.015339807878856,3.1395473458726,-0.066472500808378,-2.6589000323351,
    },
    duration = 0.7; 
  },
  {
    angles={
0,0,0.77210366323577,0.15851134808152,-2.7100327252646,0.025566346464761,-0.015339807878856,-1.6464727123306,1.0328803971763,-1.3652429012182,-0.046019423636569,-0.025566346464761,0.015339807878856,-1.6464727123306,1.0328803971763,-1.3652429012182,0.046019423636569,0.77210366323577,-0.15851134808152,-2.7100327252646,
    },
    duration = 0.7; 
  },
  {
    angles={
0,0,1.0175405892975,-0.035792885050665,-0.25055019535465,-0.025566346464761,0.025566346464761,-1.6976054052601,2.2702915660707,-1.1607121295001,-0.030679615757713,0.025566346464761,-0.025566346464761,-1.6976054052601,2.2702915660707,-1.1607121295001,0.030679615757713,1.0175405892975,0.035792885050665,-0.25055019535465,
    },
    duration = 1; 
  },


--SJ: This is final pose of bodySit
  {
    angles={
	0,0,
	105*math.pi/180, 30*math.pi/180, -45*math.pi/180,
	0,  0.055, -0.77, 2.08, -1.31, -0.055, 
	0, -0.055, -0.77, 2.08, -1.31, 0.055,
	105*math.pi/180, -30*math.pi/180, -45*math.pi/180,
	},
    duration=0.7;
  },

};

return mot;
