(PR
  (BL
    (FVAR BPARK1)
    (AS BPARK1 (TMAKE (AXW_ROTN YHAT 3.14159)(VMAKE 15 45 10)))
    (AS BARM
      BPARK1
    )
    (comment (MO BARM BPARK1 (DURATION > 3)))
    (FVAR base)
    (AS base (FMAKE (AXW_ROTN ZHAT -3.142139)(vmake 10.8 48.7 .129)))
    (FVAR pallet_spot)
    (AS pallet_spot (TTMUL base 
      (TMAKE NILROTN (VMAKE 0.992 0.982 0.000))))
    (FVAR carb_spot)
    (AS CARB_SPOT (TTMUL BASE 
      (TMAKE NILROTN (VMAKE 7.94 2.06 0.000))))
    (AS BHAND
      3.0
    )
    (DBD)
    (FVAR pallet)
    (AS pallet
      pallet_spot
    )
    (FVAR pallet_grasp)
    (TVAR _T4)
    (AFFIX pallet_grasp pallet _T4
      (TMAKE (AXW_ROTN XHAT 3.14159) (VMAKE 1.32 1.08 0.500))
      RIGIDLY)
    (DBD)
    (FVAR pallet_place)
    (TVAR _T5)
    (AFFIX pallet_place pallet _T5
      (TMAKE NILROTN (VMAKE 1.28 1.03 0.75))
      NONRIGIDLY)
    (FVAR carb)
    (AS carb
      carb_spot
    )
    (DBD)
    (FVAR carb_grasp)
    (TVAR _T6)
    (AFFIX carb_grasp carb _T6
      (TMAKE (AXW_ROTN XHAT 3.13159) (VMAKE 0.0935 (SNEG 0.202) 1.00))
      RIGIDLY)
    (AS carb
      carb_spot
    )
    (AS pallet
      pallet_spot
    )
    (MO BARM
      carb_grasp
    )
    (DBD)
    (CENTER BARM)
    (TVAR _T7)
    (AFFIX carb BARM _T7 () NONRIGIDLY)
    (MO carb
      pallet_place
      (DURATION > 2.0)
      (VIA 
        (TVADD pallet_place (VMAKE 0 0 4))
      )
    )
    (MO BHAND
      3.75
    )
    (DBD)
    (UNFIX carb BARM)
    (PVL (CARB BARM _T7))
    (AFFIX carb pallet _T7 () NONRIGIDLY)
    (MO BARM
      pallet_grasp
    )
    (PVL (PALLET_GRASP BARM PALLET CARB))
    (CENTER BARM)
    (TVAR _T9)
    (AFFIX pallet BARM _T9 () NONRIGIDLY)
    (MO pallet
	CARB_SPOT
	(DURATION > 2.0)
	(VIA (TVADD pallet (VMAKE 0 0 4)))
    )
    (DBD)
    (MO BHAND
      3.75
    )
    (UNFIX pallet BARM)
    (MO BARM
      CARB_GRASP
      (VIA 
        (TVADD pallet_grasp (VMAKE 0 0 4))
      )
    )
    (CENTER BARM)
    (AFFIX carb BARM _T9 () NONRIGIDLY)
    (MO carb
      PALLET_SPOT
      (VIA 
        (TVADD carb (VMAKE 0 0 4))
      )
    )
    (MO BHAND
      3.75
    )
    (UNFIX PALLET BARM)
    (MO BARM
      BPARK1
    )
  )
)