GyroEna=0;
_Okiagari1=[
  Time,HipY_R,HipY_L,HipR_R,HipR_L,HipP_R,HipP_L,KneP_R,KneP_L,AnkP_R,AnkP_L,AnkR_R,AnkR_L,Dou,Dou2,Dou3,Head,Sho  P_R,ShoP_L,ShoR_R,ShoR_L,Arm_R,Arm_L,Elb_R,Elb_L
  500,0,0,0,0,0,0,0,0,-9000,-9000,0,0,0,0,0,0,0,0,9000,9000,0,0,0,0
  100,0,0,0,0,-1000,-1000,1000,1000,-8000,-8000,0,0,0,0,0,0,-9000,-9000,9000,9000,0,0,0,0
  200,0,0,0,0,-2000,-2000,5000,5000,-3000,-3000,0,0,0,0,0,0,-9000,-9000,5000,5000,0,0,0,0
  100,0,0,0,0,-3000,-3000,8000,8000,2300,2300,0,0,0,0,0,0,-9000,-9000,3400,3400,0,0,0,0
  200,0,0,0,0,-3000,-3000,8000,8000,2300,2300,0,0,0,0,0,0,-9000,-9000,3400,3400,0,0,0,0
  200,0,0,0,0,-4800,-4800,9800,9800,5000,5000,0,0,0,0,0,0,-9000,-9000,3400,3400,0,0,0,0
  100,0,0,0,0,-4800,-4800,9800,9800,7000,7000,0,0,0,0,0,0,-9000,-9000,3400,3400,0,0,0,0
  100,0,0,0,0,-3000,-3000,9000,9000,7000,7000,0,0,0,0,0,0,-9000,-9000,3400,3400,0,0,0,0
  400,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
  ]
motion(_Okiagari1);