{Set speed to 5 for all} SPA,5,
{Stand still} S0,90,S1,75,S2,90,S4,92,S5,85,S6,90,DLY,4,
{Lift left leg} S0,112,S4,118,DLY,4,
{Move left leg forward} S1,132,S2,135,DLY,4,
{Put left leg down} S0,90,S4,90,DLY,4,
{Stand still} S1,90,S2,90,S4,92,S5,100,DLY,4,
{Lift right leg} S0,68,S4,72,DLY,4,
{Move right leg forward} S1,95,S4,76,S5,42,S6,45,DLY,4,
{Put right leg down} S0,90,S1,90,S4,94,S6,40,DLY,4,
{Repeat actions} GOTO,1,