COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	BEGIN "EXAMPLE TWO"
C00005 ENDMK
C⊗;
BEGIN "EXAMPLE TWO"
	REQUIRE "GEOMES.HDR[GEM,HE]" SOURCE_FILE;
	DEFINE αα="COMMENT"; DEFINE π="3.1415927";
	INTEGER B1,B2,J1,J2,J3,J4,J5,J6,C1,CHR,I;


	MKUNIV;GEODPY;
	B1 ← INB3D("ARM[DAT,BGB]");	αα MODEL OF THE YELLOW ARM;
	B2 ← INB3D("TABLE[DAT,BGB]");	αα MODEL OF THE HAND/EYE TABLE;
	J1 ← FDNAME("JOINT1");		αα SHOULDER - ABOUT VERTICAL;
	J2 ← FDNAME("JOINT2");		αα ARM - ABOUT HORIZONTAL;
	J3 ← FDNAME("JOINT3");		αα SLIDE;
	J4 ← FDNAME("JOINT4");		αα WRIST TWIST;
	J5 ← FDNAME("JOINT5");		αα WRIST FLAP;
	J6 ← FDNAME("JOINT6");		αα HAND;
	C1 ← INCAM("ARMCAM[DAT,BGB]");

FOR I←1 STEP 1 UNTIL 24 DO
BEGIN
	SHOW2(0,0);
	PLOTO("PLTX2."&CVS(I));
	ROTATE(-J1,0,0,π/40);
	ROTATE(-J2,0,0,-π/80);
	TRANSL(-J3,0,0,0.06);
END;
END "EXAMPLE TWO";