syntax of declaration
<type><identifier>,<identifier>,...;
where <type> is SCALAR or VECTOR or ROT or FRAME or TRANS
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	syntax of DELETE:
DELETE {<variable>,<variable>,.}.;
<variable> is a variable of any type.Frame deletion deletes the subtree
default= deletes any user defined variable
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	syntax of arithmetic expression:
<variable> ← <variable> <op> <variable>;
where <op> = + | - | * | /    
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	syntax of module operation:
<identifier> ← |<scalar>|; or <identifier> ← |<vector>|; or 
<identifier> ← |<rot>|; 
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<identifier> ← <scalar> + <scalar>;
<identifier> ← <scalar> - <scalar>;
<identifier> ← <scalar> * <scalar>;
<identifier> ← <scalar> / <scalar>;
<identifier> ← <vector_id> . <vector_id>;
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	syntax of explicit rotation assignment:
<rot_id>←{ROT}(<axis>,<scalar>);
where <axis>=XHAT or YHAT or ZHAT, and <scalar> is <scalar_id> or <number>
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<identifier> ← <rot_id> * <rot_id>;
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	syntax of ORIENT:
<rot_id>←ORIENT(<frame_id>);
<rot_id>←POS(INPUT {<device>});
where <device>=BARM or YARM or POINTER. Default= POINTER
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an identifier is an alphanumeric string beginning with a letter
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	syntax of EXIT:
EXIT;  also <meta-control-alt> performs an EXIT"
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	syntax of INPUT:
<frame_id>←{<orient>}INPUT{<dev>};where <dev>=BARM, YARM or POINTER. default=POINTER
<orient>= ↑ (zhat up), ↓ (park orientation), α (rot(x,180)), $ (station)
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	syntax of explicit frame assignment:
<frame_id>←(<scalar>,<scalar>,<scalar>,<scalar>,<scalar>,<scalar>){REL<frame_id>};
<frame_id>←FRAME(product of <rot>,{<scalar>*}<vector>) {REL <frame_id>};
\
<identifier> ← <frame_id> + <vector_id>;  (commutative)
<identifier> ← <frame_id> - <vector_id>;
<identifier> ← <trans_id> * <frame_id>;
\  
	syntax of CONSTRUCT:
<frame_id>←CONSTRUCT {<frame_id>,<frame_id>,<frame_id>};
<frame_id>←CONSTRUCT <vector_id>,<vector_id>,<vector_id>;
default= the system requires the frames
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	syntax of COPY or MERGE:
COPY <frame_id> INTO <frame_id>
MERGE <frame_id> INTO <frame_id>
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	syntax of UNFIX:
UNFIX <frame_id> {FROM <frame_id>};
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	syntax of affixment:
AFFIX <frame_id> TO <frame_id>{AT TRANS(<rot>,{<scalar>*}<vector>)}{affixtype};
where <affixtype> = RIGIDLY or *, NONRIGIDLY or + 
default = RIGIDLY 
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	syntax of REL operation:
<frame_id> ← <frame> WRT|REL <frame_id>;
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	The system types an * when it's ready to accept a new instruction.
The instruction EXIT or <meta><control><alt> exits from the system parking
the arm and closing any open file.
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	The instructions can be typed on different lines, more than one
instruction for line, and without semicolon.
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	syntax of MOVE:
MOVE <frame_id> TO <frame_id> {+|-{<scalar>*}<vector> {WRT <frame_id>}};
MOVE <frame_id> BY {{<scalar>*}<vector> {WRT <frame_id>}};
where <vector> can be <vector_id> or <explicit vector>
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	syntax of movement along an axis:
MOVE <frame_id> ALONG <axis> BY <scalar>; where <axis>=XHAT OR YHAT OR ZHAT
or MOVEX {<frame_id>} BY <scalar>; (analogous with MOVEY,MOVEZ)
default=BARM
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	syntax of drive instructions: 
DRIVE BJT(<joint #>) TO <scalar>;  for absolute movement 
DRIVE BJT(<joint #>) BY <scalar>;  for differential movement 
(YJT instead of BJT for YARM) to move the joint(integer between 1 and 7)
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	syntax of OPEN or CLOSE:
OPEN {<hand>} TO <scalar>;  for absolute movement
OPEN {<hand>} BY <scalar>;  for differential movement
(analogous instructions for CLOSE)
where <hand>=BHAND or YHAND. default=BHAND
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	syntax of CENTER:
CENTER {<arm>};   where <arm>=BARM or YARM . default=BARM
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	syntax of parking instructions: 
BPARK;   moves BARM to its park position
YPARK;   moves YARM to its park position
PARK;    move BARM and YARM to their park position
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	syntax of explicit trans assignment:
<trans_id>←(<scalar>,<scalar>,<scalar>,<scalar>,<scalar>,<scalar>);
<trans_id>←TRANS(product of <rot>,{<scalar>*}<vector>) ;
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	operations on trans
<trans_id> ← <trans_id> * <trasn_id>;
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	trans is for many aspects equivalent to frame. A trans is converted
into a frame whenever used in instructions AFFIX, UNFIX, COPY, or MERGE.
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The big box displays the frame tree with
    affixment type(-=INDEPENDENT,+=NONRIGID,*=RIGID), name, trans part.
The box on the right displays the scalars, name and value.
The little one below contains the default part for movement instructions.
The three boxes below display: 
    the files used for output, with open/close(O or C), current default file(*),
      name.The last indicated file is the file used to save TTY outputs;
    the rotations, name and value expressed by Euler angles;
    the vectors, name and value.
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	syntax of CLOSE:
CLOSE {<filename>}; default=closes the current file
CLOSE {<hand>} TO <scalar>;  or CLOSE {<hand>} BY <scalar>;
where <hand>=BHAND or YHAND. default=BHAND
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	syntax of WRITE:
WRITE {<filename>} {FROM <frame>};
where <filename>=name.ext[prj,prg] (default=last used file or DECLAR.AL)
the default for <frame> is STATION"
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	syntax of SAVE:
SAVE {<filename>};
where <filename>=name.ext[prj,prg] (default=last used file or DECLAR.AL)
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	syntax of CLOSE:
CLOSE {<filename>}; default=closes the current file
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	syntax of READ:
READ {<filename>};
where <filename>=filnam.ext[prj,prg] (default=DECLAR.AL)
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SAVE_FILES; saves any open file, including the file used for TTY output
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CLOSE_FILES; closes any open file, including the file used for TTY output
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	syntax of EDIT:
EDIT <variable>;    where <variable> is a variable of any type
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	syntax of RENAME:
RENAME <variable>;  where <variable> is a variable of any type
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	syntax of KILL:
KILL;
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	syntax of assignment: <identifier>←<variable>; 
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	syntax of general assignment:
variable>←<variable>; OR <variable>←<expression>;
where <expression> can be INPUT,CONSTRUCT,POS,ORIENT,arith.expr.... 
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	syntax of explicit assignment to vector or frame or trans:
<vector_id>←(<scalar>,<scalar>,<scalar>) {WRT|REL <frame_id>};
<frame_id>←(<scalar>,<scalar>,<scalar>,<scalar>,<scalar>,<scalar>) REL<frame_id>;
<trans_id>←(<scalar>,<scalar>,<scalar>,<scalar>,<scalar>,<scalar>);
\
	syntax of WRT or REL
<vector_id> ← <vector> WRT|REL <frame_id>;
<frame_id> ← <frame> WRT|REL <frame_id>;
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	syntax of explicit vector assignment:
<vector_id>←{VECTOR}(<scalar>,<scalar>,<scalar>) {WRT|REL <frame_id>};
where <scalar> can be <scalar_id> or <number>
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<identifier> ← <scalar> * <vector_id>;  (commutative)
<identifier> ← <vector_id> / <scalar>;
<identifier> ← <vector_id> + <vector_id>;
<identifier> ← <vector_id> - <vector_id>;
<identifier> ← <rot_id> * <vector_id>;
<identifier> ← <trans_id> * <vector_id>;
<identifier> ← <frame_id> * <vector_id>;
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	syntax of POS:
<vector_id>←POS(<frame_id>);
<vector_id>←POS(INPUT {<device>});
where <device>=BARM or YARM or POINTER. Default= POINTER
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	syntax of UNIT"
<identifier> ← UNIT(<vector>);
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	syntax of AXIS
<identifier> ← AXIS(<vector>);
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	syntax of WRT or REL
<vector_id> ← <vector> WRT|REL <frame_id>;
\