(PR
  (BL
    (FVAR BPARK1)
    (AS BPARK1 (TMAKE (AXW_ROTN YHAT 3.14159)(VMAKE 15 45 10)))
    (AS BARM
      BPARK1
    )
    (AS BHAND 1.0)
    (CO
       (MO BARM BPARK1 (DURATION > 3))
       (MO BHAND 3.75)
	)
    (FVAR base)
    (AS base (FMAKE (AXW_ROTN ZHAT -3.142139)(vmake 10.8 48.7 .129)))
    (FVAR pallet_spot)
    (AS pallet_spot (TTMUL base 
      (TMAKE NILROTN (VMAKE 0.992 0.982 0.000))))
    (FVAR carb_spot)
    (AS CARB_SPOT (TTMUL BASE 
      (TMAKE NILROTN (VMAKE 7.94 2.06 0.000))))
    (AS BHAND
      3.0
    )
    (FVAR pallet)
    (AS pallet
      pallet_spot
    )
    (FVAR pallet_grasp)
    (TVAR _T4)
    (AFFIX pallet_grasp pallet _T4
      (TMAKE (AXW_ROTN XHAT 3.14159) (VMAKE 1.32 1.08 0.500))
      RIGIDLY)
    (FVAR pallet_place)
    (TVAR _T5)
    (AFFIX pallet_place pallet _T5
      (TMAKE NILROTN (VMAKE 1.28 1.03 0.75))
      NONRIGIDLY)
    (FVAR carb)
    (AS carb
      carb_spot
    )
    (FVAR carb_grasp)
    (TVAR _T6)
    (AFFIX carb_grasp carb _T6
      (TMAKE (AXW_ROTN XHAT 3.13159) (VMAKE 0.0935 (SNEG 0.202) 1.00))
      RIGIDLY)
    (AS carb
      carb_spot
    )
    (AS pallet
      pallet_spot
    )
    (WVAR init)
    (NW init)
    (WH 1
	(BL
            (MO BARM
              carb_grasp
            )
            (CENTER BARM)
            (TVAR _T7)
            (AFFIX carb BARM _T7 () NONRIGIDLY)
            (MO carb
              pallet_place
              (DURATION > 2.0)
              (VIA
                (TVADD pallet_place (VMAKE 0 0 4))
              )
            )
            (MO BHAND
              3.75
            )
            (UNFIX carb BARM)
            (PVL (CARB BARM _T7))
            (AFFIX carb pallet _T7 () NONRIGIDLY)
            (MO BARM
              pallet_grasp
            )
            (PVL (PALLET_GRASP BARM PALLET CARB))
            (CENTER BARM)
            (TVAR _T9)
            (AFFIX pallet BARM _T9 () NONRIGIDLY)
            (MO pallet
                CARB_SPOT
                (DURATION > 2.0)
                (VIA (TVADD pallet (VMAKE 0 0 4)))
            )
            (MO BHAND
              3.75
            )
            (UNFIX pallet BARM)
            (MO BARM
              CARB_GRASP
              (VIA
                (TVADD pallet_grasp (VMAKE 0 0 4))
              )
            )
            (CENTER BARM)
            (AFFIX carb BARM _T9 () NONRIGIDLY)
            (MO carb
              PALLET_SPOT
              (VIA
                (TVADD carb (VMAKE 0 0 4))
              )
            )
            (MO BHAND
              3.75
            )
            (UNFIX PALLET BARM)
            (MO BARM
              BPARK1
	    )
	    (COMMENT Now for the loop)
	    (AS pallet_spot pallet)
	    (AS carb_spot carb)
	)
      )
  )
)