{Set speed to 3 for all} SPA,3,
{Stand still} S0,90,S1,90,S2,90,S4,92,S5,82,S6,90,DLY,20,
{Get up} S1,162,S2,55,S4,94,S5,0,S6,120,DLY,20,
{Stand still} S1,90,S2,90,S4,92,S5,82,S6,90,DLY,20,
STOP,