(PR
  (BL
    (PRINT 
      "PROGRAM TO ASSEMBLE VALVE - WITH FORCE FEEDBACK"
      "
"
    )
    (FVAR ORIGIN)
(AS ORIGIN
(FMAKE NILROTN (SVMUL INCHES (VMAKE  5.850000      25.70000      .2310000    )))
)
(FVAR NUT_GRASP)
(AS NUT_GRASP
(TTMUL ORIGIN (TMAKE NILROTN (SVMUL INCHES (VMAKE  10.20000      1.910000      2.450000 
   ))))
)
(FVAR NUT_GRASP_FINAL)
(AS NUT_GRASP_FINAL
(TTMUL ORIGIN (TMAKE NILROTN (SVMUL INCHES (VMAKE  2.410000      1.920000      3.940000 
   ))))
)
(FVAR CAP)
(AS CAP
(TTMUL ORIGIN (TMAKE NILROTN (SVMUL INCHES (VMAKE  10.30000      5.910000      .8130000 
   ))))
)
(FVAR CAP_FINAL)
(AS CAP_FINAL
(TTMUL ORIGIN (TMAKE NILROTN (SVMUL INCHES (VMAKE  3.950000      1.920000      2.830000 
   ))))
)
(FVAR BGRASP)
(TVAR _T1)
(AFFIX BGRASP BARM _T1
(TMAKE (AXW_ROTN XHAT (SMUL  180.0000     DEG)) (SVMUL INCHES NILVECT)) RIGIDLY)
(MO BARM
BPARK
(DURATION = 
(SMUL  3.000000     SECONDS)
)
)
(MO BHAND
(SMUL  3.000000     INCHES)
)
(SPEED_FACTOR  2.000000     )
(MO BGRASP
NUT_GRASP
)
(CENTER BARM)
(AS NUT_GRASP
BGRASP
)
(MO BGRASP
(TVADD NUT_GRASP_FINAL (SVMUL INCHES (SVMUL  1.000000     ZHAT)))
)
(FVAR NUT_TURN_INITIAL NUT_TURN_FINAL)
(TVAR _T2)
(AFFIX NUT_TURN_INITIAL NUT_GRASP_FINAL _T2
(TMAKE (AXW_ROTN ZHAT (SMUL  90.00000     DEGREES)) (SVMUL INCHES (VMAKE  .0000000 
     .0000000     (SNEG  .5000000@-1 )))) RIGIDLY)
(TVAR _T3)
(AFFIX NUT_TURN_FINAL NUT_GRASP_FINAL _T3
(TMAKE (AXW_ROTN ZHAT (SNEG (SMUL  90.00000     DEGREES))) (SVMUL INCHES (VMAKE 
 .0000000      .0000000      .5000000@-1 ))) RIGIDLY)
(MO BGRASP
(TVSUB NUT_GRASP_FINAL (SVMUL INCHES (SVMUL  .2000000     ZHAT)))
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(WOBBLE 
(SMUL  .3000000     DEGREES)
)
(DURATION = 
(SMUL  4.000000     SECONDS)
)
(NNULL +)
( ON + ( FORCE  ZHAT  =
(SMUL  80.00000     OUNCES)
  + )
(STOP BARM)
)
)
(AS NUT_GRASP_FINAL
(FMAKE (ORIENT NUT_GRASP_FINAL) (POS BGRASP))
)
(MO BGRASP
(TVSUB NUT_TURN_INITIAL (SVMUL INCHES (SVMUL  .2000000     ZHAT)))
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(NNULL +)
(SPEED_FACTOR   3.000000     )
(WOBBLE 
(SMUL  .2000000     DEGREES)
)
(FORCE_FRAME STATION # )
 ( FORCE  ZHAT  =
(SNEG (SMUL  40.00000     OUNCES))
  + )
)
(SVAR SEATED)
(AS SEATED
FALSE
)
(PAUSE (SMUL  1.000000     SECONDS))
(WH
(NOT SEATED)
(BL
(MO BGRASP
NUT_TURN_FINAL
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(NNULL +)
(FORCE_FRAME STATION # )
( ON +
( FORCE   ZHAT  ≥  (SMUL (SMUL  220.0000     OUNCES) INCHES)   -   )
(BL
(STOP BARM)
(AS SEATED
TRUE
)
)
)
)
(MO BHAND
(SMUL  3.000000     INCHES)
)
(IF
(NOT SEATED)
(BL
(MO BGRASP
NUT_TURN_INITIAL
(VIA 
NUT_GRASP_FINAL
)
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(NNULL +)
)
(CENTER BARM)
)
)
)
)
(PAS BGRASP
NUT_TURN_INITIAL
)
(MO BGRASP
CAP
(DEPARTURE
(SVMUL INCHES (SVMUL  3.000000     ZHAT))
)
)
(CENTER BARM)
(FVAR CAP_TURN_INITIAL CAP_TURN_FINAL)
(TVAR _T4)
(AFFIX CAP_TURN_INITIAL CAP_FINAL _T4
(TMAKE (AXW_ROTN ZHAT (SMUL  30.00000     DEGREES)) (SVMUL INCHES (VMAKE  .0000000 
     .0000000      .1000000@-1 ))) RIGIDLY)
(TVAR _T5)
(AFFIX CAP_TURN_FINAL CAP_FINAL _T5
(TMAKE (AXW_ROTN ZHAT (SNEG (SMUL  30.00000     DEGREES))) (SVMUL INCHES (VMAKE 
 .0000000      .0000000     (SNEG  .1000000@-1 )))) RIGIDLY)
(MO BGRASP
(TVADD CAP_FINAL (SVMUL INCHES (SVMUL  .3000000     ZHAT)))
)
(MO BGRASP
(TVSUB CAP_FINAL (SVMUL INCHES (SVMUL  .5000000     ZHAT)))
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(WOBBLE 
(SMUL  .5000000     DEGREES)
)
(DURATION = 
(SMUL  4.000000     SECONDS)
)
(NNULL +)
(FORCE_FRAME STATION # )
( ON +
( FORCE   ZHAT  =  (SMUL  80.00000     OUNCES)   +   )
(STOP BARM)
)
)
(MO BGRASP
(TVSUB CAP_TURN_INITIAL (SVMUL INCHES (SVMUL  .4000000     ZHAT)))
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(WOBBLE 
(SMUL  .2000000     DEGREES)
)
(DURATION = 
(SMUL  4.000000     SECONDS)
)
(NNULL +)

( FORCE   ZHAT  =  (SNEG (SMUL  40.00000     OUNCES))   + ( FORCE_FRAME STATION 
# )  )
)
(AS CAP_FINAL
(FMAKE (ORIENT CAP_FINAL) (POS BGRASP))
)
(AS SEATED
FALSE
)
(WH
(NOT SEATED)
(BL
(MO BGRASP
CAP_TURN_FINAL
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(NNULL +)
(FORCE_FRAME STATION # )
( ON + ( FORCE  ZHAT  ≥
(SMUL (SMUL  220.0000     OUNCES) INCHES)
 - )
(BL
(STOP BARM)
(AS SEATED
TRUE
)
)
)
)
(MO BHAND
(SMUL  3.000000     INCHES)
)
(IF
(NOT SEATED)
(BL
(MO BGRASP
CAP_TURN_INITIAL
(VIA 
CAP_FINAL
)
(ARRIVAL NILDEPROACH)
(DEPARTURE NILDEPROACH)
(NNULL +)
)
(CENTER BARM)
)
)
)
)
(PAS BGRASP
CAP_TURN_INITIAL
)
(MO BARM
BPARK
(DEPARTURE
(VSUB NILVECT  (SVMUL INCHES (SVMUL  3.000000     ZHAT)))
)
)
)
)