($PR
  ($BL
    ( $FVAR PICK_UP SET_DOWN GARBAGE CASTING CASTING_GRASP )
    ( $VVAR DSET CSET )
    ( $SVAR GOOD_CASTINGS ACCEPT )
    ( 
    $PROC  CHECK_ACCEPTANCE 
    ()
    ($BL
      ( $SVAR I SUM AVGWEIGHT )
      ( $ARAY $SVAR FORCES ( 1.000000      6.000000     ))
      ( $AS SUM
         .0000000    
      )
      ($FO I
         1.000000    
         1.000000    
         4.000000    
        ($BL
          ( $PAUSE ( $SMUL  .2000000     SECONDS))
          ( $WRIST FORCES)
          ( $AS SUM
            ( $SADD SUM ($AREF FORCES  3.000000    ))
          )
        )
      )
      ( $AS AVGWEIGHT
        ( $SABS ( $SDIV SUM  4.000000    ))
      )
      ($IF
        ( $AND ( $SGT AVGWEIGHT  800.0000    ) ( $SLT AVGWEIGHT  1100.000    ))
        ( $AS ACCEPT
          TRUE
        )
        ( $AS ACCEPT
          FALSE
        )
      )
      ( $PRINT 
        "THIS WEIGHS"
        AVGWEIGHT
      )
    )
    )
    ( $AS SET_DOWN
      ( $FMAKE NILROTN ( $SVMUL INCHES ( $VMAKE  15.00000      33.00000     ( $SNEG 
 .5000000    ))))
    )
    ( $AS PICK_UP
      ( $FMAKE ( $AXW_ROTN ZHAT ( $SMUL  90.00000     DEGREES)) ( $SVMUL INCHES 
( $VMAKE  4.000000      40.00000      .3000000    )))
    )
    ( $AS GARBAGE
      ( $FMAKE ( $AXW_ROTN ZHAT ( $SMUL  90.00000     DEGREES)) ( $SVMUL INCHES 
( $VMAKE  18.00000      45.00000      7.000000    )))
    )
    ( $AS DSET
      ( $VSUB NILVECT  ( $SVMUL INCHES ( $SVMUL  4.300000     XHAT)))
    )
    ( $AS CSET
      ( $SVMUL INCHES ( $SVMUL ( $SDIV  10.00000      2.540000    ) YHAT))
    )
    ( $AS CASTING
      PICK_UP
    )
    ($AFFIX CASTING_GRASP CASTING ()
      ( $TMAKE ( $AXW_ROTN XHAT ( $SMUL  180.0000     DEGREES)) ( $SVMUL INCHES 
( $VMAKE  1.200000      1.500000      1.870000    )))  RIGIDLY)
    ($MO BARM
      BPARK
      ($DURATION = 
        ( $SMUL  4.000000     SECONDS)
      )
    )
    ($MO BHAND
      ( $SMUL  3.500000     INCHES)
    )
    ( $AS GOOD_CASTINGS
       .0000000    
    )
    ( $AS CASTING
      PICK_UP
    )
    ($MO BARM
      CASTING_GRASP
    )
    ( $PAUSE ( $SMUL  .2000000     SECONDS))
    ($SETBASE)
    ( $PAS ACCEPT
      FALSE
    )
    ($WH
      ( $SLT GOOD_CASTINGS  3.000000    )
      ($BL
        ($CENTER BARM)
        ( $AS CASTING_GRASP
          BARM
        )
        ($AFFIX CASTING BARM ()
          ()  RIGIDLY)
        ( $AS PICK_UP
          ( $TVADD  CSET)
        )
        ($MO CASTING
          ( $TVADD CASTING ( $SVMUL INCHES ( $SVMUL  2.000000     ZHAT)))
          ($ARRIVAL NILDEPROACH)
          ($DEPARTURE NILDEPROACH)
          ($NNULL +)
        )
        ( $CALL CHECK_ACCEPTANCE)
        ($IF
          ACCEPT
          ($BL
            ($MO CASTING
              ( $TVADD SET_DOWN ( $SVMUL INCHES ( $SVMUL  2.000000     ZHAT)))
              ($ARRIVAL NILDEPROACH)
              ($DEPARTURE NILDEPROACH)
              ($NNULL +)
            )
            ($MO CASTING
              SET_DOWN
              ($ARRIVAL NILDEPROACH)
              ($DEPARTURE NILDEPROACH)
              ( $ON + ($FORCE  ZHAT  ≥
                ( $SMUL  90.00000     OZ)
                  + )
                ($STOP )
              )
            )
            ($MO BHAND
              ( $SMUL  3.500000     INCHES)
            )
            ($UNFIX CASTING BARM)
            ( $AS GOOD_CASTINGS
              ( $SADD GOOD_CASTINGS  1.000000    )
            )
            ( $AS SET_DOWN
              ( $TVADD SET_DOWN DSET)
            )
            ( $AS CASTING
              PICK_UP
            )
            ($IF
              ( $SLT GOOD_CASTINGS  3.000000    )
              ($MO BARM
                CASTING_GRASP
                ($DEPARTURE
                  ( $VSUB NILVECT  ( $SVMUL INCHES ( $SVMUL  3.000000     ZHAT)))

                )
              )
            )
          )
          ($BL
            ($MO CASTING
              GARBAGE
              ($ARRIVAL NILDEPROACH)
              ($DEPARTURE NILDEPROACH)
              ($NNULL +)
            )
            ($MO BHAND
              ( $SMUL  3.500000     INCHES)
            )
            ( $PRINT 
              "THAT'S NOT A CASTING!"
              "
"
            )
            ($UNFIX CASTING BARM)
            ( $AS CASTING
              PICK_UP
            )
            ($MO BARM
              CASTING_GRASP
            )
          )
        )
      )
    )
    ( $PAS BARM
      ( $FMAKE ( $AXW_ROTN XHAT ( $SMUL  180.0000     DEGREES)) ( $SVMUL INCHES 
( $VMAKE  12.00000      41.00000      2.000000    )))
    )
    ($MO BARM
      BPARK
      ($DEPARTURE
        ( $VSUB NILVECT  ( $SVMUL INCHES ( $SVMUL  3.000000     ZHAT)))
      )
    )
    ( $PAS CASTING
      NILTRANS
    )
  )
)