COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	begin
C00006 ENDMK
C⊗;
begin
REQUIRE ERROR_MODES "F";
FRAME gbase,gf1,gf2;
SCALAR I;

gbase ← frame (rot(zhat,180*degrees), vector (84.0,52.0,27.0)*inches);	{base of PUMA world}
gf1 ← gbase * trans(nilrot,vector(20,15,20)*inches);
gf2 ← gbase * trans(nilrot,vector(-20,15,20)*inches);
SPEED_FACTOR ← 3;

prompt ("About to go to ready position...");
move garm to gpark directly;

prompt ("About to go to f1...");
move garm to gf1 directly;
print("Here is where al thinks we are:",crlf); print(garm);
prompt ("About to go to f2...");
move garm to gf2 directly;
print("Here is where al thinks we are:",crlf); print(garm);

if query("Want to do the multi-segment move?") then
    move garm to gpark directly via gf1,gf2,gf1 with duration=12*seconds;

end