perm filename LT[HAL,HE] blob
sn#200987 filedate 1976-02-09 generic text, type T, neo UTF8
(PROG
(BLOCK $B1.INIT $B1._T6 $B1.CARB_GRASP $B1.CARB $B1._T5 $B1.PALLET_PLACE $B1._T4 $B1.PALLET_GRASP $B1.PALLET $B1.CARB_SPOT $B1.PALLET_SPOT $B1.BASE $B1.BPARK1
(BLKOP[ 1 ]) [IW=W364,OW=W365]
(ASSIGNMENT $B1.BPARK1 TRANS( ROTN( YHAT, 179.9998500*DEG), VECTOR( 15.00000, 45.00000, 10.00000))) [IW=W365,OW=W366]
(ASSIGNMENT BARM $B1.BPARK1) [IW=W366,OW=W366]
(COMMNT[ NULL_RECORD ]) [IW=W366,OW=W366]
(ASSIGNMENT $B1.BASE FRAME( ROTN( ZHAT,-180.0313000*DEG), VECTOR( 10.80000, 48.70000, .1290000))) [IW=W366,OW=W366]
(ASSIGNMENT $B1.PALLET_SPOT (TTMUL $B1.BASE TRANS( NILROTN, VECTOR( .9920000, .9820000, .0000000)))) [IW=W366,OW=W366]
(ASSIGNMENT $B1.CARB_SPOT (TTMUL $B1.BASE TRANS( NILROTN, VECTOR( 7.940000, 2.060000, .0000000)))) [IW=W366,OW=W366]
(ASSIGNMENT BHAND 3.0000000) [IW=W366,OW=W366]
(ASSIGNMENT $B1.PALLET $B1.PALLET_SPOT) [IW=W366,OW=W366]
(AFFIX[ $B1.PALLET_GRASP, $B1.PALLET, $B1._T4, TRANS( ROTN( XHAT, 179.9998500*DEG), VECTOR( 1.320000, 1.080000, .5000000)), RIGIDLY,NULL_RECORD ]) [IW=W366,OW=W367]
(AFFIX[ $B1.PALLET_PLACE, $B1.PALLET, $B1._T5, TRANS( NILROTN, VECTOR( 1.280000, 1.030000, .7500000)), NONRIGIDLY,NULL_RECORD ]) [IW=W367,OW=W370]
(ASSIGNMENT $B1.CARB $B1.CARB_SPOT) [IW=W370,OW=W371]
(AFFIX[ $B1.CARB_GRASP, $B1.CARB, $B1._T6, TRANS( ROTN( XHAT, 179.4268900*DEG), VECTOR( .9350000@-1,-.2020000, 1.000000)), RIGIDLY,NULL_RECORD ]) [IW=W371,OW=W372]
(ASSIGNMENT $B1.CARB $B1.CARB_SPOT) [IW=W372,OW=W373]
(ASSIGNMENT $B1.PALLET $B1.PALLET_SPOT) [IW=W373,OW=W373]
(NW[ $B1.INIT ]) [IW=W373,OW=$B1.INIT]
(WHIL .0000000
(BLOCK $B2._T9 $B2._T7
(BLKOP[ 1 ]) [IW=W374,OW=W377]
(MOVE$ BARM TO $B1.CARB_GRASP) [IW=W377,OW=W400]
(CENTER BARM) [IW=W400,OW=W401]
(AFFIX[ $B1.CARB, BARM, $B2._T7,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W401,OW=W402]
(MOVE$ $B1.CARB TO $B1.PALLET_PLACE
(VIA(TVADD $B1.PALLET_PLACE VECTOR( .0000000, .0000000, 4.000000)))
(DURATION > 2.0000000)
) [IW=W402,OW=W403]
(MOVE$ BHAND TO 3.7500000) [IW=W403,OW=W404]
(UNFIX[ $B1.CARB, BARM,NULL_RECORD ]) [IW=W404,OW=W405]
(PVL( $B1.CARB BARM $B2._T7 ))
(AFFIX[ $B1.CARB, $B1.PALLET, $B2._T7,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W405,OW=W406]
(MOVE$ BARM TO $B1.PALLET_GRASP) [IW=W406,OW=W407]
(PVL( $B1.PALLET_GRASP BARM $B1.PALLET $B1.CARB ))
(CENTER BARM) [IW=W407,OW=W410]
(AFFIX[ $B1.PALLET, BARM, $B2._T9,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W410,OW=W411]
(MOVE$ $B1.PALLET TO $B1.CARB_SPOT
(VIA(TVADD $B1.PALLET VECTOR( .0000000, .0000000, 4.000000)))
(DURATION > 2.0000000)
) [IW=W411,OW=W412]
(MOVE$ BHAND TO 3.7500000) [IW=W412,OW=W413]
(UNFIX[ $B1.PALLET, BARM,NULL_RECORD ]) [IW=W413,OW=W414]
(MOVE$ BARM TO $B1.CARB_GRASP
(VIA(TVADD $B1.PALLET_GRASP VECTOR( .0000000, .0000000, 4.000000)))
) [IW=W414,OW=W415]
(CENTER BARM) [IW=W415,OW=W416]
(AFFIX[ $B1.CARB, BARM, $B2._T9,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W416,OW=W417]
(MOVE$ $B1.CARB TO $B1.PALLET_SPOT
(VIA(TVADD $B1.CARB VECTOR( .0000000, .0000000, 4.000000)))
) [IW=W417,OW=W420]
(MOVE$ BHAND TO 3.7500000) [IW=W420,OW=W421]
(UNFIX[ $B1.PALLET, BARM,NULL_RECORD ]) [IW=W421,OW=W422]
(MOVE$ BARM TO $B1.BPARK1) [IW=W422,OW=W423]
(COMMNT[ NULL_RECORD ]) [IW=W423,OW=W423]
(ASSIGNMENT $B1.PALLET_SPOT $B1.PALLET) [IW=W423,OW=W424]
(ASSIGNMENT $B1.CARB_SPOT $B1.CARB) [IW=W424,OW=W424]
(BLKOP[ 2 ]) [IW=W424,OW=W425]
) [IW=W374,OW=W425]) [IW=$B1.INIT,OW=W426]
(BLKOP[ 2 ]) [IW=W426,OW=W427]
) [IW=W364,OW=W427]) [IW=W237,OW=W427]
BEGINNING SIMULATION PHASE
IN WORLD W405, $B1.CARB HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= TRANS( ROTN( VECTOR( .0000000, .2114320@-3, 1.000000), 179.9687200*DEG), VECTOR( 8.526901, 46.68924, .8790000))]
DEPS=( calc ITEM310: (TTMUL $B1.CARB $B1._T6))
CALCS=( calc ITEM313: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))
CHANGERS= <NONE>
IN WORLD W405, CALCULATOR ITEM313 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=5,VAL= TRANS( ROTN( VECTOR( .0000000, .1220703@-3, 1.000000), 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000))]
DEPS= $B1.CARB
IN WORLD W405, BARM HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= FRAME( ROTN( VECTOR( .2729575@-3, .9999875, .5003394@-2), 180.0000000*DEG), VECTOR( 8.433512, 46.89129, 1.879000))]
DEPS=( calc ITEM351: (TTMUL BARM $B2._T7))
CALCS= <NONE>
CHANGERS= <NONE>
IN WORLD W405, $B2._T7 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= TRANS( ROTN( XHAT,-179.4266400*DEG), VECTOR(-.9350002@-1,-.2119923, .9979295))]
DEPS=( calc ITEM351: (TTMUL BARM $B2._T7))
CALCS= <NONE>
CHANGERS= <NONE>
IN WORLD W407, $B1.PALLET_GRASP HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= FRAME( ROTN( VECTOR( .2729575@-3, 1.000000, .0000000), 180.0000000*DEG), VECTOR( 8.486874, 46.63926, .6290000))]
DEPS=( calc ITEM288: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))
CALCS=( calc ITEM280: (TTMUL $B1.PALLET $B1._T4))
CHANGERS= <NONE>
IN WORLD W407, CALCULATOR ITEM280 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=-1,VAL= TRANS( ROTN( VECTOR( .2729575@-3, 1.000000, .0000000), 180.0000000*DEG), VECTOR( 8.486874, 46.63926, .6290000))]
DEPS= $B1.PALLET_GRASP
IN WORLD W407, BARM HAS GRAPH PROPERTIES:
VALUE NODE =[INV=0,VAL= FRAME( ROTN( VECTOR( .2729575@-3, 1.000000, .0000000), 180.0000000*DEG), VECTOR( 8.486874, 46.63926, .6290000))]
DEPS=( calc ITEM351: (TTMUL BARM $B2._T7))
CALCS= <NONE>
CHANGERS= <NONE>
IN WORLD W407, $B1.PALLET HAS GRAPH PROPERTIES:
VALUE NODE =[INV=-1,VAL= FRAME( ROTN( ZHAT, 179.9687200*DEG), VECTOR( 9.807464, 47.71854, .1290000))]
DEPS=( calc ITEM300: (TTMUL $B1.PALLET $B1._T5))
( calc ITEM280: (TTMUL $B1.PALLET $B1._T4))
( calc ITEM380: (TTMUL $B1.PALLET $B2._T7))
CALCS=( calc ITEM288: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))
CHANGERS= <NONE>
IN WORLD W407, CALCULATOR ITEM288 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=-1,VAL= NULL_RECORD ]
DEPS= $B1.PALLET
IN WORLD W407, $B1.CARB HAS GRAPH PROPERTIES:
VALUE NODE =[INV=-1,VAL= TRANS( ROTN( VECTOR( .0000000, .2114320@-3, 1.000000), 179.9687200*DEG), VECTOR( 8.526901, 46.68924, .8790000))]
DEPS=( calc ITEM310: (TTMUL $B1.CARB $B1._T6))
CALCS=( calc ITEM313: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))
( calc ITEM380: (TTMUL $B1.PALLET $B2._T7))
CHANGERS=(changer ITEM385:
(ASSIGNMENT $B2._T7 (TTMUL(TINVRT $B1.PALLET)
(SPECVAL[ 0,4 ]))) [IW=ANY,OW=ANY])
IN WORLD W407, CALCULATOR ITEM313 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=5,VAL= TRANS( ROTN( VECTOR( .0000000, .1220703@-3, 1.000000), 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000))]
DEPS= $B1.CARB
IN WORLD W407, CALCULATOR ITEM380 HAS GRAPH PROPERTIES:
VALUE NODE =[INV=-1,VAL= NULL_RECORD ]
DEPS= $B1.CARB
WARNING: [ @< $ <SET_FLUENT 251241>>,@< $ $B1.PALLET_GRASP> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 251244>>,@< $ $B1.PALLET> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 251247>>,@< $ $B1.PALLET_PLACE> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 251260>>,@< $ $B1.CARB_GRASP> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 251266>>,@< $ $B1.CARB> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255212>>,@< $ [ 0, FRAME( ROTN( YHAT, 179.9998500*DEG), VECTOR( 15.00000, 45.00000, 10.00000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255217>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255274>>,@< $ [ 0, FRAME( ROTN( ZHAT, 179.9687200*DEG), VECTOR( 9.807464, 47.71854, .1290000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255325>>,@< $ [ 0, FRAME( ROTN( ZHAT, 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255356>>,@< $ [ 0, FRAME( ROTN( ZHAT, 179.9687200*DEG), VECTOR( 9.807464, 47.71854, .1290000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255363>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255370>>,@< $ [ 0, TRANS( ROTN( XHAT, 179.9998500*DEG), VECTOR( 1.320000, 1.080000, .5000000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255421>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255426>>,@< $ [ 0, TRANS( NILROTN, VECTOR( 1.280000, 1.030000, .7500000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255452>>,@< $ [ 0, FRAME( ROTN( ZHAT, 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255457>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255464>>,@< $ [ 0, TRANS( ROTN( XHAT, 179.4268900*DEG), VECTOR( .9350000@-1,-.2020000, 1.000000)) ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 255471>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263200>>,@< $ ( calc ITEM288: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263203>>,@< $ ( calc ITEM300: (TTMUL $B1.PALLET $B1._T5))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263203>>,@< $ ( calc ITEM280: (TTMUL $B1.PALLET $B1._T4))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263211>>,@< $ ( calc ITEM280: (TTMUL $B1.PALLET $B1._T4))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263214>>,@< $ ( calc ITEM288: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263233>>,@< $ ( calc ITEM300: (TTMUL $B1.PALLET $B1._T5))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263255>>,@< $ ( calc ITEM313: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263260>>,@< $ ( calc ITEM310: (TTMUL $B1.CARB $B1._T6))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263266>>,@< $ ( calc ITEM310: (TTMUL $B1.CARB $B1._T6))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <SET_FLUENT 263271>>,@< $ ( calc ITEM313: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 272013>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 272051>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
WARNING: [ @< $ <FLUENT 272075>>,@< $ [ -1,NULL_RECORD ]> ] WAS ASSUMED TO BE TRUE, BUT MAY NOT BE
BEGINNING CODE EMISSION PHASE
(NW[ $B1.INIT ])