0 walk_forward 3000 stop 500 walk_backward 3000 stop 500 turn_right 4000 stop 500 turn_left 4000 stop 1500 oops 4000 left_hand_pickup 4000 right_hand_pickup 3000 lean_forward 3000 lean_backward 3000 right_hand_throw 3000 left_hand_throw 3000 whistle 1000 left_arm_up 3000 right_arm_up 3000 karate_chop 2000 sleep 7000 wakeup 7000 burp 3000 roar 3000 talkback 4000 power_off