walk()
{
    if( TRUE )
    {
        move pelvis to y-axis [-0.539978] now;
        turn rthigh to x-axis <10.692308> now;
        turn lthigh to x-axis <-53.489011> now;
        turn torso to y-axis <5.747253> now;
        turn luparm to x-axis <38.670330> now;
        turn ruparm to x-axis <-18.093407> now;
        turn rloarm to x-axis <48.956044> now;
        turn lloarm to x-axis <48.956044> now;
        turn lleg to x-axis <53.489011> now;
        turn rleg to x-axis <53.489011> now;
        turn rfoot to x-axis <-37.846154> now;
        sleep 90;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.300000] now;
        turn rthigh to x-axis <-10.280220> now;
        turn lthigh to x-axis <-41.549451> now;
        turn torso to y-axis <3.280220> now;
        turn luparm to x-axis <32.093407> now;
        turn ruparm to x-axis <-11.093407> now;
        turn rloarm to x-axis <48.956044> now;
        turn lloarm to x-axis <48.956044> now;
        turn lleg to x-axis <41.967033> now;
        turn rleg to x-axis <81.879121> now;
        turn rfoot to x-axis <-31.258242> now;
        sleep 70;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.150000] now;
        turn rthigh to x-axis <-18.093407> now;
        turn lthigh to x-axis <-24.681319> now;
        turn torso to y-axis <0.000000> now;
        turn luparm to x-axis <27.148352> now;
        turn ruparm to x-axis <-7.401099> now;
        turn lleg to x-axis <24.681319> now;
        turn rleg to x-axis <85.582418> now;
        turn rfoot to x-axis <-23.027473> now;
        sleep 50;
    }
    if( TRUE )
    {
        move pelvis to y-axis [0.000000] now;
        turn rthigh to x-axis <-42.379121> now;
        turn lthigh to x-axis <5.335165> now;
        turn torso to y-axis <-3.280220> now;
        turn luparm to x-axis <8.214286> now;
        turn ruparm to x-axis <9.027473> now;
        turn rloarm to x-axis <48.956044> now;
        turn lloarm to x-axis <48.956044> now;
        turn lleg to x-axis <6.571429> now;
        turn lfoot to x-axis <-9.027473> now;
        turn rleg to x-axis <104.516484> now;
        turn rfoot to x-axis <0.000000> now;
        sleep 40;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.200000] now;
        turn rthigh to x-axis <-69.945055> now;
        turn lthigh to x-axis <14.802198> now;
        turn torso to y-axis <-6.159341> now;
        turn luparm to x-axis <-3.692308> now;
        turn ruparm to x-axis <17.681319> now;
        turn lleg to x-axis <15.214286> now;
        turn lfoot to x-axis <-25.093407> now;
        turn rleg to x-axis <107.401099> now;
        sleep 50;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.400000] now;
        turn rthigh to x-axis <-75.291209> now;
        turn lthigh to x-axis <20.137363> now;
        turn torso to y-axis <-8.214286> now;
        turn luparm to x-axis <-10.280220> now;
        turn ruparm to x-axis <25.093407> now;
        turn lleg to x-axis <26.324176> now;
        turn lfoot to x-axis <-33.725275> now;
        turn rleg to x-axis <64.604396> now;
        sleep 70;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.550000] now;
        turn rthigh to x-axis <-56.780220> now;
        turn lthigh to x-axis <24.258242> now;
        turn torso to y-axis <-6.159341> now;
        turn luparm to x-axis <-23.857143> now;
        turn ruparm to x-axis <31.258242> now;
        turn rloarm to x-axis <48.956044> now;
        turn lloarm to x-axis <48.956044> now;
        turn lleg to x-axis <38.670330> now;
        turn lfoot to x-axis <-38.670330> now;
        turn rleg to x-axis <56.780220> now;
        sleep 90;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.300000] now;
        turn rthigh to x-axis <-44.846154> now;
        turn lthigh to x-axis <5.335165> now;
        turn torso to y-axis <-3.280220> now;
        turn luparm to x-axis <-16.038462> now;
        turn ruparm to x-axis <19.725275> now;
        turn lleg to x-axis <67.071429> now;
        turn rfoot to x-axis <-12.324176> now;
        sleep 70;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.139978] now;
        turn rthigh to x-axis <-22.615385> now;
        turn lthigh to x-axis <-12.736264> now;
        turn torso to y-axis <0.000000> now;
        turn luparm to x-axis <-1.637363> now;
        turn ruparm to x-axis <10.280220> now;
        turn lleg to x-axis <79.412088> now;
        turn lfoot to x-axis <-27.967033> now;
        turn rleg to x-axis <37.027473> now;
        turn rfoot to x-axis <-15.626374> now;
        sleep 50;
    }
    if( TRUE )
    {
        move pelvis to y-axis [0.000000] now;
        turn rthigh to x-axis <2.868132> now;
        turn lthigh to x-axis <-42.379121> now;
        turn torso to y-axis <3.280220> now;
        turn luparm to x-axis <11.505495> now;
        turn ruparm to x-axis <1.225275> now;
        turn rloarm to x-axis <48.956044> now;
        turn lloarm to x-axis <48.956044> now;
        turn lleg to x-axis <90.104396> now;
        turn lfoot to x-axis <-15.214286> now;
        turn rleg to x-axis <6.571429> now;
        turn rfoot to x-axis <-9.434066> now;
        sleep 40;
    }
    if( TRUE )
    {
        move pelvis to y-axis [-0.189978] now;
        turn rthigh to x-axis <13.159341> now;
        turn lthigh to x-axis <-57.192308> now;
        turn torso to y-axis <6.159341> now;
        turn luparm to x-axis <21.390110> now;
        turn ruparm to x-axis <-6.989011> now;
        turn rfoot to x-axis <-19.324176> now;
        sleep 50;
    }
    move pelvis to y-axis [-0.400000] now;
    turn rthigh to x-axis <16.445055> now;
    turn lthigh to x-axis <-67.071429> now;
    turn torso to y-axis <8.214286> now;
    turn luparm to x-axis <25.093407> now;
    turn ruparm to x-axis <-12.324176> now;
    turn lleg to x-axis <55.549451> now;
    turn lfoot to x-axis <-2.868132> now;
    turn rleg to x-axis <24.681319> now;
    turn rfoot to x-axis <-33.324176> now;
    sleep 70;
}