local mot = {};
mot.servos = {
    1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,
};
mot.keyframes = {
   {
     angles = vector.new({
       0,0,
       74.9, 6.4, 94.8, -20.7,
       3.1, 1.9, 0.4, -4.3, 55.3, -0.8,
       0.0, 0.1, 2.5, -5.8, 61.1, 2.2,
       74.9, -6.4, -93.2, 19.6           
     })*math.pi/180,
     duration = 0.40;
   },

   {
     angles = vector.new({
       0,0,
        69.7, -5.4, 100.9, -88.5,
        -68.8, 46.5, -25.7, -4.5, 27.0, -4.8,
         0.0, -47.1, -23.0, -0.2, 12.0, -2.6,
         69.5, 5.7, -100.4, 88.5
     })*math.pi/180,
     duration = 0.40;
   },

  {
     angles = vector.new({
       0,0,
        117.3, -40.3, 62.2, -89.8,
        -70.0, 41.3, -87.3, 11.4, -25.5, 32.9,
         0.0, -44.1, -74.4, -4.5, -25.3, -34.3,
        117.3, 41.3, -62.2, 89.8
     })*math.pi/180,
     duration = 0.40;
   },

    {
     angles = vector.new({
       0,0,
        111.7, -20.3, 69.5, -89.6,
        -69.4, -18.8, -89.1, -7.5, -16.9, 35.7,
         0.0, 11.7, -86.3, -6.5, -25.1, -33.7,
        106.9, 21.8, -59.2, 89.5
     })*math.pi/180,
     duration = 0.40;
   },

--arm behind sitting
    {
     angles = vector.new({
       0,0,
        120.8, -10.1, 0.2, -1.9,
        -23.1, 13.3, -88.7, 14.5, 32.4, 0.3,
        0.0, 1.3, -84.3, 13.4, 48.6, 2.0,
        117.5, 10.1, -13.0, 1.4
     })*math.pi/180,
     duration = 0.60;
   },
--This part copied over from StandupFromBack_Fast.lua
    {
    angles={--9
0,0,1.9788180589676,-0.027653932571411,-0.29610395431519,-0.033705949783325,-1.1458560228348,0.50165987014771,-1.573842048645,2.1138100624084,0.30681612014771,0.2040638923645,0,-0.59821796417236,-1.5923337936401,2.1230978965759,0.28536605834961,-0.12267804145813,2.0694079399109,-0.079809904098511,0.23159193992615,0.24088001251221,
    },
duration = 0.50; 
  },
  {
    angles={--head1
0,0,1.9788180589676,-0.027653932571411,-0.29610395431519,-0.033705949783325,-1.1458560228348,0.50165987014771,-1.573842048645,2.1138100624084,0.30681612014771,0.2040638923645,0,-0.59821796417236,-1.5923337936401,2.1230978965759,0.28536605834961,-0.12267804145813,2.0694079399109,-0.079809904098511,0.23159193992615,0.24088001251221,
    },
duration = 0.2; 
  },
  { -- new keyframes added below (6/23/16)
    angles={--11, start of getup from crabwalk position
0,0,2.0340421199799,0.038308143615723,-0.29917192459106,-0.15795993804932,-1.1565940380096,0.51239800453186,-1.5692400932312,2.1368200778961,0.3389720916748,0.15037393569946,0,-0.6120240688324,-1.3714380264282,1.4097881317139,0.80845999717712,-0.11347413063049,2.1476421356201,-4.1961669921875e-05,0.26687407493591,0.039926052093506,
    },
duration = 0.4;
  },
  {
    angles={--12, shifting weight to left foot
0,0,1.9834201335907,-0.29763793945312,-0.28383207321167,-0.1380181312561,-1.1059720516205,0.38200807571411,-0.3021559715271,2.1490921974182,-0.82226610183716,-0.36658406257629,0,-0.56907200813293,-1.5662560462952,0.94958782196045,0.86675214767456,0.038392066955566,1.8393077850342,-0.59063196182251,0.04597806930542,0.050663948059082,
    },
duration = 0.5;
	},
	{
    angles={--13, shifting weight to left foot
0.13188195228577,0,1.9082541465759,-0.085946083068848,-0.29303598403931,-0.11961007118225,-1.0553500652313,0.34059000015259,-0.24079608917236,2.1613640785217,-1.1152601242065,-0.0045599937438965,0,-0.49850797653198,-0.82533407211304,0.79005193710327,0.69647789001465,0.078275918960571,1.7150540351868,-0.22093796730042,0.11347413063049,0.038392066955566,
    },
duration = 0.5;
  },
	{
    angles={--14, leans hard into left side
0.12881398200989,0,1.9205260276794,-0.095149993896484,-0.29303598403931,-0.13188195228577,-1.0415439605713,0.34519195556641,-0.23926210403442,2.1613640785217,-1.1965618133545,0.095149993896484,0,-0.51998400688171,-0.54154396057129,0.69187593460083,0.69034194946289,0.08134388923645,1.8224339485168,-0.039926052093506,0.07205605506897,0.038392066955566,
    },
duration = 0.5;
  },
  {
    angles={--15
0,0,1.7103680372238,0.19324207305908,-0.28996801376343,-0.12881398200989,-0.70253014564514,0.36206603050232,-0.57520794868469,2.1199460029602,-1.1873579025269,0.075207948684692,0,0.052197933197021,-0.58756399154663,1.1796879768372,0.12276196479797,0.093616008758545,1.7472681999207,0.0014920234680176,0.1088719367981,0.03072190284729,
    },
duration = 0.3;
  },
	{
		angles={--16
0,0,1.7042320966721,0.090464115142822,-0.28536605834961,-0.11807608604431,-0.63810205459595,0.13043189048767,-0.5031099319458,2.1598300933838,-1.1904258728027,0.075207948684692,0,-0.29295206069946,-0.99407386779785,1.6675000190735,-0.15029001235962,0.17798590660095,1.8669199943542,0.07052206993103,0.11040592193604,0.032255887985229,
    },
duration = 0.3;
  },
  {
    angles={--17
0,0,1.7088340520859,0.058249950408936,-0.28536605834961,-0.11807608604431,-0.39266204833984,-0.07205605506897,-0.57981014251709,2.1598300933838,-1.2165040969849,0.089014053344727,0,-0.23619413375854,-0.59830188751221,2.1522440910339,-1.210284113884,0.14883995056152,1.8270359039307,-0.027653932571411,0.10733795166016,0.035323858261108,
    },
duration = 0.3;
  },
  {
    angles={--18
0,0,1.8576320409775,-0.038392066955566,-0.28229808807373,-0.12574601173401,-0.024502038955688,0.070605993270874,-0.86206603050232,2.1613640785217,-1.2180380821228,-0.076658010482788,0,0.084411859512329,-0.87135410308838,2.1491761207581,-1.2148860692978,-0.064386129379272,1.6582961082458,-0.049129962921143,0.15182399749756,0.066004037857056,
    },
duration = 0.3;
  },
};

return mot;
