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,
2.1526863723328,0.19941750242513,-0.80278327899349,
0,0,-1.0891263593988,1.6924921359672,-0.73631077818511,0.097152116566091,
0,0,-1.0942396286918,1.6618125202094,-0.79255674040758,0.092038847273138,
2.1526863723328,-0.19941750242513,-0.80278327899349,
    },
duration = 0.5; 
  },
  {
    angles={
0,0,
3.7991590846634,0.0051132692929521,-2.5719744543549,
0,0,-0.78744347111463,1.6157930965729,0.46530750565864,0.046019423636569,
0,0,-0.76699039394282,1.5953400194011,0.45508096707274,0.17896442525332,
3.7991590846634,-0.0051132692929521,-2.5719744543549,
    },
duration = 0.5; 
  },
  {
    angles={
0,0,
4.0855021650688,0.056245962222474,-1.8100973297051,
0,0,-1.1965050145508,1.7794177139473,0.32724923474894,-0.010226538585904,
0,0,-1.2322978996015,1.7691911753614,0.39372173555731,-0.035792885050665,
4.0855021650688,-0.056245962222474,-1.8100973297051,
    },
duration = 0.5; 
  },
  {
    angles={
0,0,
3.3900975412273,0.015339807878856,-0.4806473135375,
0,0,0.14317154020266,1.4266021327336,-0.29656961899122,-0.10226538585904,
0,0,0.046019423636569,1.5288675185927,-0.29145634969827,-0.025566346464761,
3.3900975412273,-0.015339807878856,-0.4806473135375,
    },
duration = 0.5; 
  },
  {
    angles={
0,0,
2.6435602244563,0.086925577980186,0.025566346464761,
0,0,0.55734635293178,1.6413594430376,-0.99197424283271,0.092038847273138,
0,0,0.52666673717407,1.6464727123306,-0.95618135778205,0.086925577980186,
2.6435602244563,-0.086925577980186,0.025566346464761,
    },
duration = 1; 
  },
  {
    angles={
0,0,
2.4339161834452,0.13805827090971,-0.46530750565864,
0,0,0.51644019858817,1.815210598998,-1.3754694398041,-0.07158577010133,
0,0,0.51644019858817,1.7538513674826,-1.2885438618239,-0.010226538585904,
2.4339161834452,-0.13805827090971,-0.46530750565864,
    },
duration = 0.5; 
  },

  {
    angles={
0,0,
1.605566557987,0.13805827090971,-0.63915866161902,
0,0,-0.57268616081064,1.9890617549584,-1.4112623248548,-0.061359231515426,
0,0,-0.50110039070931,1.8816830998064,-1.3601296319253,0.035792885050665,
1.605566557987,-0.13805827090971,-0.63915866161902,
    },
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;
