(PR
  (BL
    (FVAR BPARK1)
    (AS BPARK1
      (FMAKE (AXW_ROTN YHAT  3.141590    ) (VMAKE  15.00000      45.00000      .0000000    ))
    )
    (AS BARM
      BPARK1
    )
    (AS BHAND 0)
    (FVAR BASE)
    (AS BASE
      (FMAKE (AXW_ROTN ZHAT -3.142139    ) (VMAKE  10.80000      48.70000      .1290000    ))
    )
    (FVAR PALLET_SPOT)
    (AS PALLET_SPOT (TTMUL BASE (TMAKE NILROTN (VMAKE 0.992 0.982 0))))
    (FVAR CARB_SPOT)
    (AS CARB_SPOT (TTMUL BASE (TMAKE NILROTN (VMAKE 7.94 2.06 0))))
    (FVAR PALLET PALLET_GRASP PALLET_PLACE)
    (TVAR _T1)
    (AFFIX PALLET_GRASP PALLET _T1
      (TMAKE (AXW_ROTN XHAT  3.141590    ) (VMAKE  1.320000      1.080000      .5000000    ))
      RIGIDLY)
    (TVAR _T2)
    (AFFIX PALLET_PLACE PALLET _T2
      (TMAKE (AXW_ROTN XHAT  3.141590    ) (VMAKE  1.320000      1.080000      .7500000    ))
      RIGIDLY)
    (AS PALLET
      PALLET_SPOT
    )
    (FVAR CARB CARB_GRASP)
    (TVAR _T3)
    (AFFIX CARB_GRASP CARB _T3
      (TMAKE (AXW_ROTN XHAT  3.141590    ) (VMAKE  .9000000@-1  -.2000000      1.000000    ))
      RIGIDLY)
    (AS CARB
      CARB_SPOT
    )
    (MO BHAND
       3.750000    
    )
    (MO BARM
      CARB_GRASP
    )
    (CENTER BARM)
    (TVAR _T4)
    (AFFIX CARB BARM _T4 () NONRIGIDLY)
    (MO CARB
      PALLET_PLACE
      (DURATION > 2.0)
      (VIA 
        (TVADD PALLET_PLACE (VMAKE  .0000000      .0000000      4.000000    ))
      )
    )
    (MO BHAND
       3.750000    
    )
    (UNFIX CARB BARM)
    (TVAR _T5)
    (AFFIX CARB PALLET _T5 () NONRIGIDLY)
    (MO BARM
      PALLET_GRASP
    )
    (CENTER BARM)
    (TVAR _T6)
    (AFFIX PALLET BARM _T6 () NONRIGIDLY)
    (MO PALLET
      CARB_SPOT
      (DURATION > 2.0)
      (VIA 
        (TVADD PALLET (VMAKE  .0000000      .0000000      4.000000    ))
      )
    )
    (MO BHAND
       3.750000    
    )
    (UNFIX CARB BARM)
    (MO BHAND
       3.750000    
    )
    (MO BARM
      CARB_GRASP
    )
    (CENTER BARM)
    (TVAR _T7)
    (AFFIX CARB BARM _T7 () NONRIGIDLY)
    (MO CARB
      PALLET_SPOT
      (VIA 
        (TVADD CARB (VMAKE  .0000000      .0000000      4.000000    ))
      )
    )
    (MO BHAND
       3.750000    
    )
    (UNFIX CARB BARM)
    (MO BARM
      BPARK1
    )
  )
)