(PROG
(BLOCK $B1._T9 $B1._T7 $B1._T6 $B1.CARB_GRASP $B1.CARB $B1._T5 $B1.PALLET_PLACE $B1._T4 $B1.PALLET_GRASP $B1.PALLET $B1._T2 $B1.CARB_SPOT $B1._T1 $B1.PALLET_SPOT $B1.BASE $B1.BPARK1
 
 (BLKOP[ 1 ]) [IW=W353,OW=W354]
 (ASSIGNMENT $B1.BPARK1  TRANS( ROTN(  YHAT, 179.9998500*DEG), VECTOR( 15.00000, 45.00000, 10.00000))) [IW=W354,OW=W355]
 (ASSIGNMENT BARM  $B1.BPARK1) [IW=W355,OW=W355]
 (MOVE$ BARM TO  $B1.BPARK1
  
   (DURATION >  3.0000000)
   ) [IW=W355,OW=W356]
 (ASSIGNMENT $B1.BASE  FRAME( ROTN(  ZHAT,-180.0313000*DEG), VECTOR( 10.80000, 48.70000, .1290000))) [IW=W356,OW=W357]
 (AFFIX[  $B1.PALLET_SPOT, $B1.BASE, $B1._T1, TRANS( NILROTN, VECTOR( .9920000, .9820000, .0000000)), NONRIGIDLY,NULL_RECORD ]) [IW=W357,OW=W360]
 (AFFIX[  $B1.CARB_SPOT, $B1.BASE, $B1._T2, TRANS( NILROTN, VECTOR( 7.940000, 2.060000, .0000000)), NONRIGIDLY,NULL_RECORD ]) [IW=W360,OW=W361]
 (ASSIGNMENT BHAND  3.0000000) [IW=W361,OW=W362]
 (ASSIGNMENT $B1.PALLET  $B1.PALLET_SPOT) [IW=W362,OW=W362]
 (AFFIX[  $B1.PALLET_GRASP, $B1.PALLET, $B1._T4, TRANS( ROTN(  XHAT, 179.9998500*DEG), VECTOR( 1.320000, 1.080000, .7290000)), RIGIDLY,NULL_RECORD ]) [IW=W362,OW=W363]
 (AFFIX[  $B1.PALLET_PLACE, $B1.PALLET, $B1._T5, TRANS( NILROTN, VECTOR( 1.280000, 1.030000, .7500000)), NONRIGIDLY,NULL_RECORD ]) [IW=W363,OW=W364]
 (ASSIGNMENT $B1.CARB  $B1.CARB_SPOT) [IW=W364,OW=W365]
 (AFFIX[  $B1.CARB_GRASP, $B1.CARB, $B1._T6, TRANS( ROTN(  XHAT, 179.4268900*DEG), VECTOR( .9350000@-1,-.2020000, .8440000)), RIGIDLY,NULL_RECORD ]) [IW=W365,OW=W366]
 (ASSIGNMENT $B1.CARB  $B1.CARB_SPOT) [IW=W366,OW=W367]
 (ASSIGNMENT $B1.PALLET  $B1.PALLET_SPOT) [IW=W367,OW=W367]
 (MOVE$ BHAND TO  2.5000000) [IW=W367,OW=W370]
 (MOVE$ BARM TO  $B1.CARB_GRASP) [IW=W370,OW=W371]
 (CENTER BARM) [IW=W371,OW=W372]
 (AFFIX[  $B1.CARB, BARM, $B1._T7,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W372,OW=W373]
 (MOVE$ $B1.CARB TO  $B1.PALLET_PLACE
  
   (VIA(TVADD $B1.PALLET_PLACE VECTOR( .0000000, .0000000, 4.000000)))
   ) [IW=W373,OW=W374]
 (MOVE$ BHAND TO  2.5000000) [IW=W374,OW=W375]
 (UNFIX[  $B1.CARB, BARM,NULL_RECORD ]) [IW=W375,OW=W376]
 (PVL( $B1.CARB BARM $B1._T7 ))
 (AFFIX[  $B1.CARB, $B1.PALLET, $B1._T7,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W376,OW=W377]
 (MOVE$ BHAND TO  3.7500000) [IW=W377,OW=W400]
 (MOVE$ BARM TO  $B1.PALLET_GRASP
  
   (VIA(TVADD $B1.PALLET_GRASP VECTOR( .0000000, .0000000, 4.000000)))
   ) [IW=W400,OW=W401]
 (PVL( $B1.PALLET_GRASP BARM $B1.PALLET $B1.CARB ))
 (CENTER BARM) [IW=W401,OW=W402]
 (AFFIX[  $B1.PALLET, BARM, $B1._T9,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W402,OW=W403]
 (MOVE$ $B1.PALLET TO  $B1.CARB_SPOT) [IW=W403,OW=W404]
 (MOVE$ BHAND TO  3.7500000) [IW=W404,OW=W405]
 (UNFIX[  $B1.PALLET, BARM,NULL_RECORD ]) [IW=W405,OW=W406]
 (MOVE$ BARM TO  $B1.CARB_GRASP
  
   (VIA(TVADD $B1.PALLET_GRASP VECTOR( .0000000, .0000000, 4.000000)))
   ) [IW=W406,OW=W407]
 (CENTER BARM) [IW=W407,OW=W410]
 (AFFIX[  $B1.CARB, BARM, $B1._T9,NULL_RECORD, NONRIGIDLY,NULL_RECORD ]) [IW=W410,OW=W411]
 (MOVE$ $B1.CARB TO  $B1.PALLET_SPOT
  
   (VIA(TVADD $B1.CARB ZHAT))
   ) [IW=W411,OW=W412]
 (MOVE$ BHAND TO  3.7500000) [IW=W412,OW=W413]
 (UNFIX[  $B1.PALLET, BARM,NULL_RECORD ]) [IW=W413,OW=W414]
 (MOVE$ BARM TO  $B1.BPARK1) [IW=W414,OW=W415]
 (BLKOP[ 2 ]) [IW=W415,OW=W416]
 ) [IW=W353,OW=W416]) [IW=W237,OW=W416]

BEGINNING SIMULATION PHASE

IN WORLD W376, $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 ITEM333: (TTMUL $B1.CARB $B1._T6))
	CALCS=( calc ITEM336: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))
	CHANGERS= <NONE> 

          IN WORLD W376, CALCULATOR ITEM336 HAS GRAPH PROPERTIES:
                    VALUE NODE =[INV=7,VAL= TRANS( ROTN(  VECTOR( .0000000, .1220703@-3, 1.000000), 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000))]
          
          	DEPS= $B1.CARB
          

IN WORLD W376, 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, 1.723000))]
	DEPS=( calc ITEM377: (TTMUL BARM $B1._T7))
	CALCS= <NONE> 
	CHANGERS= <NONE> 


IN WORLD W376, $B1._T7 HAS GRAPH PROPERTIES:
          VALUE NODE =[INV=0,VAL= TRANS( ROTN(  XHAT,-179.4266400*DEG), VECTOR(-.9350002@-1,-.2104316, .8419373))]
	DEPS=( calc ITEM377: (TTMUL BARM $B1._T7))
	CALCS= <NONE> 
	CHANGERS= <NONE> 


IN WORLD W401, $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, .8580000))]
	DEPS=( calc ITEM306: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))
	CALCS=( calc ITEM303: (TTMUL $B1.PALLET $B1._T4))
	CHANGERS= <NONE> 

          IN WORLD W401, CALCULATOR ITEM303 HAS GRAPH PROPERTIES:
                    VALUE NODE =[INV=-1,VAL= TRANS( ROTN(  VECTOR( .2729575@-3, 1.000000, .0000000), 180.0000000*DEG), VECTOR( 8.486874, 46.63926, .8580000))]
          
          	DEPS= $B1.PALLET_GRASP
          

IN WORLD W401, 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, .8580000))]
	DEPS=( calc ITEM377: (TTMUL BARM $B1._T7))
	CALCS= <NONE> 
	CHANGERS= <NONE> 


IN WORLD W401, $B1.PALLET HAS GRAPH PROPERTIES:
          VALUE NODE =[INV=-1,VAL= FRAME( ROTN(  ZHAT, 179.9687200*DEG), VECTOR( 9.807464, 47.71854, .1290000))]
	DEPS=( calc ITEM303: (TTMUL $B1.PALLET $B1._T4))
          ( calc ITEM318: (TTMUL $B1.PALLET $B1._T5))
          ( calc ITEM406: (TTMUL $B1.PALLET $B1._T7))
	CALCS=( calc ITEM306: (TTMUL $B1.PALLET_GRASP(TINVRT $B1._T4)))
	CHANGERS= <NONE> 

          IN WORLD W401, CALCULATOR ITEM306 HAS GRAPH PROPERTIES:
                    VALUE NODE =[INV=-1,VAL= NULL_RECORD ]
          
          	DEPS= $B1.PALLET
          

IN WORLD W401, $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 ITEM333: (TTMUL $B1.CARB $B1._T6))
	CALCS=( calc ITEM336: (TTMUL $B1.CARB_GRASP(TINVRT $B1._T6)))
          ( calc ITEM406: (TTMUL $B1.PALLET $B1._T7))
	CHANGERS=(changer ITEM411: 
          (ASSIGNMENT $B1._T7 (TTMUL(TINVRT $B1.PALLET)
          (SPECVAL[ 0,4 ]))) [IW=ANY,OW=ANY])

          IN WORLD W401, CALCULATOR ITEM336 HAS GRAPH PROPERTIES:
                    VALUE NODE =[INV=7,VAL= TRANS( ROTN(  VECTOR( .0000000, .1220703@-3, 1.000000), 179.9687200*DEG), VECTOR( 2.858876, 46.64434, .1290000))]
          
          	DEPS= $B1.CARB
          
          IN WORLD W401, CALCULATOR ITEM406 HAS GRAPH PROPERTIES:
                    VALUE NODE =[INV=-1,VAL= NULL_RECORD ]
          
          	DEPS= $B1.CARB
          

BEGINNING CODE EMISSION PHASE