//solder
// left side
SetWRF(0.000, 0.000, 0.000, -0.000, 0.000, -0.000)
SetTRF(0.000, 96.000, 35.550, 0.000, 0.000, 0.000)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
setblending(95.0)
MoveJoints(-0.78, -13.605, 8.532, 40.71, 34.86, 0)

MoveJoints(-27.058, 24.463, 45.986, -29.336, -75.734, -48.009)

MoveJoints(-3.123, 19.717, 23.324, 93.27, -35.231, -119.498)

MoveJoints(-4.773, 15.397, 28.745, 98.234, -27.47, -124.21)
// leg 1
SetJointAcc(60.000)
SetJointVel(60.000)
SetCartAcc(60.000)
SetCartLinVel(60.000)
setblending(0.0)
MoveJoints(-3.239, 24.961, 22.575, 114.319, -16.971, -136.807)
MoveJoints(-1.61, 26.164, 21.784, 112.918, -17.809, -134.075)
delay(0.250)
MoveJoints(-1.619, 25.814, 22.325, 112.369, -17.73, -133.505)
delay(1.000)
MoveJoints(-1.61, 26.164, 21.784, 112.918, -17.809, -134.075)
MoveJoints(-3.193, 26.235, 21.673, 113.19, -16.849, -135.591)

// leg 2
MoveJoints(-3.322, 23.843, 25.331, 109.232, -16.311, -131.562)
MoveJoints(-1.653, 23.768, 25.444, 109.189, -17.329, -130.198)
delay(0.250)
MoveJoints(-1.666, 23.307, 26.138, 108.481, -17.245, -129.466)
delay(1.000)
MoveJoints(-1.653, 23.768, 25.444, 109.189, -17.329, -130.198)
MoveJoints(-3.953, 23.884, 25.269, 109.294, -15.929, -132.124)

// leg 3
MoveJoints(-4.122, 21.478, 28.851, 105.287, -15.475, -128.095)
MoveJoints(-1.656, 21.32, 29.001, 105.765, -16.994, -126.617)
delay(0.25)
MoveJoints(-1.672, 20.795, 29.767, 105, -16.92, -125.83)
delay(1.000)
MoveJoints(-1.672, 20.795, 29.767, 105, -16.92, -125.83)
MoveJoints(-4.122, 21.478, 28.851, 105.287, -15.475, -128.095)

// leg 4
MoveJoints(-4.29, 19.265, 32.051, 101.738, -15.141, -124.551)
MoveJoints(-1.708, 18.972, 32.469, 102.159, -16.692, -122.891)
delay(0.250)
MoveJoints(-1.723, 18.474, 33.173, 101.479, -16.64, -122.193)
delay(1.000)
MoveJoints(-1.708, 18.972, 32.469, 102.159, -16.692, -122.891)
MoveJoints(-4.29, 19.265, 32.051, 101.738, -15.141, -124.551)

// leg 5
MoveJoints(-4.5, 16.731, 35.601, 97.917, -14.84, -120.766)
MoveJoints(-1.808, 16.596, 35.786, 99.006, -16.458, -119.684)
delay(0.250)
MoveJoints(-1.832, 15.928, 36.699, 98.174, -16.407, -118.836)
delay(1.000)
MoveJoints(-1.808, 16.596, 35.786, 99.006, -16.458, -119.684)
MoveJoints(-4.5, 16.731, 35.601, 97.917, -14.84, -120.766)

// leg 6
MoveJoints(-4.26, 14.269, 38.926, 94.814, -14.889, -117.358)
MoveJoints(-2.026, 14.188, 39.089, 95.867, -16.212, -116.594)
delay(0.250)
MoveJoints(-2.049, 13.623, 39.833, 95.238, -16.181, -115.958)
delay(1.000)
MoveJoints(-2.026, 14.188, 39.089, 95.867, -16.212, -116.594)
MoveJoints(-4.26, 14.269, 38.926, 94.814, -14.889, -117.358)

// leg 7
MoveJoints(-4.471, 12.033, 42.145, 90.953, -14.714, -113.541)
MoveJoints(-1.952, 11.655, 42.627, 92.463, -16.183, -112.987)
delay(0.250)
MoveJoints(-1.975, 11.107, 43.319, 91.948, -16.165, -112.47)
delay(1.000)
MoveJoints(-1.952, 11.655, 42.627, 92.463, -16.183, -112.987)
MoveJoints(-4.471, 12.033, 42.145, 90.953, -14.714, -113.541)

// leg 8
MoveJoints(-4.704, 9.431, 45.505, 87.855, -14.586, -110.535)
MoveJoints(-1.844, 9.272, 45.273, 91.637, -16.236, -112.035)
delay(0.250)
MoveJoints(-1.864, 8.759, 45.894, 91.251, -16.221, -111.65)
delay(1.000)
MoveJoints(-1.844, 9.272, 45.273, 91.637, -16.236, -112.035)
MoveJoints(-4.704, 9.431, 45.505, 87.855, -14.586, -110.535)

// leg 9
MoveJoints(-4.946, 7.128, 48.257, 85.897, -14.472, -108.718)
MoveJoints(-2.236, 6.806, 48.632, 88.224, -16.011, -108.817)
delay(0.25)
MoveJoints(-2.265, 6.232, 49.295, 87.89, -15.998, -108.494)
delay(1.000)
MoveJoints(-2.236, 6.806, 48.632, 88.224, -16.011, -108.817)
MoveJoints(-4.946, 7.128, 48.257, 85.897, -14.472, -108.718)

// leg 10
MoveJoints(-5.256, 4.422, 51.334, 84.144, -14.329, -107.172)
MoveJoints(-2.26, 4.271, 51.5, 87.042, -16.011, -107.608)
delay(0.25)
MoveJoints(-2.299, 3.529, 52.311, 86.766, -15.993, -107.354)
delay(1.000)
MoveJoints(-2.26, 4.271, 51.5, 87.042, -16.011, -107.608)
MoveJoints(-5.256, 4.422, 51.334, 84.144, -14.329, -107.172)

// back up safe
MoveJoints(-8.915, 4.771, 50.947, 80.085, -12.284, -106.109)
MoveJoints(-45.121, -13.605, 8.532, 40.71, 34.86, 0)

// right side
SetWRF(0.000, 0.000, 0.000, -0.000, 0.000, -0.000)
SetTRF(0.000, 96.000, 35.550, 0.000, 0.000, 0.000)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
setblending(95.0)
MoveJoints(-0.78, -13.605, 8.532, 40.71, 34.86, 0)