(PR
  (BL
    (SVAR inspection_ok deg)
    (FVAR carb carb_grasp pallet pallet_grasp)
    (FVAR inspection_point carb_spot pallet_spot base_plate)
    (EVAR inspection_ready inspection_done)
    (RVAR zflip)
    (AS deg 0.01745329519943)
    (AS zflip (AXW_ROTN YHAT (SMUL 180. deg)))
    (AS base_plate
	STATION
    )
    (AS BARM
      BPARK
    )
    (AS BHAND 3)
    (TVAR XXT1)
(DBD)
    (AFFIX carb_grasp carb XXT1
      (TMAKE zflip (VMAKE 0 0 0.75))
      NONRIGIDLY)
    (TVAR XXT2)
    (AFFIX pallet_grasp pallet XXT2
      (TMAKE zflip (VMAKE 0 0 0.5))
      RIGIDLY)
    (TVAR XXT3)
(DBD)
    (AFFIX carb_spot base_plate XXT3
      (TMAKE NILROTN (VMAKE 8.0 2.5 0))
      NONRIGIDLY)
    (TVAR XXT4)
    (AFFIX pallet_spot base_plate XXT4
      (TMAKE NILROTN (VMAKE 2.5 2.5 0))
      NONRIGIDLY)
    (TVAR XXT5)
(DBD)
    (AFFIX inspection_point base_plate XXT5
      (TMAKE NILROTN (VMAKE 2.5 6.5 0))
      NONRIGIDLY)
    (AS carb carb_spot)
    (AS pallet pallet_spot)
(DBD)
    (CO
      (BL
        (EV inspection_ready -)
        (IF
          (SEQ inspection_ok 0)
          (AS inspection_ok
            1
          )
          (AS inspection_ok
            0
          )
        )
        (EV inspection_done +)
      )
      (BL
        (MO BHAND
          2.5
        )
        (MO BARM
          carb_grasp
        )
        (CENTER BARM)
        (TVAR XXT6)
        (AFFIX carb BARM XXT6 () NONRIGIDLY)
        (BL
	  (COMMENT FORCE MONITOR HERE)
          (MO carb
            (TVADD pallet (VMAKE 0 0 (SNEG 0.3)))
            (VIA 
              (TVADD pallet (VMAKE 0 0 10))
            )
          )
        )
        (MO BHAND
          2.5
        )
        (UNFIX carb BARM)
        (TVAR XXT7)
        (AFFIX carb pallet XXT7 () NONRIGIDLY)
        (MO BHAND
          5
        )
        (MO BARM
          pallet_grasp
          (VIA 
            (TVADD pallet (VMAKE 0 0 10))
          )
        )
        (CENTER BARM)
        (TVAR XXT8)
        (AFFIX pallet BARM XXT8 () NONRIGIDLY)
        (MO pallet
          inspection_point
        )
        (MO BHAND
          5
        )
        (UNFIX pallet BARM)
        (MO BARM
          BPARK
          (VIA 
            (TVADD pallet_grasp (VMAKE 0 0 10))
          )
        )
        (EV inspection_ready +)
        (EV inspection_done -)
        (MO BARM
          carb_grasp
        )
        (CENTER BARM)
        (TVAR XXT9)
        (AFFIX carb BARM XXT9 () NONRIGIDLY)
        (MO carb
          carb_spot
          (VIA 
            (TVADD carb (VMAKE 0 0 1))
          )
          (VIA 
            (TVADD carb_spot (VMAKE 0 0 1))
          )
        )
        (MO BHAND
          5
        )
        (MO BARM
          pallet_grasp
        )
        (CENTER BARM)
        (TVAR XXT10)
        (AFFIX pallet BARM XXT10 () NONRIGIDLY)
        (MO pallet
          pallet_spot
        )
        (MO BHAND
          5
        )
        (MO BARM
          BPARK
        )
      )
    )
  )
)