main
ready()
joint (1,60)
finish()
joint (1,-60)
joint (2,45)
joint (2,-45)
joint (3,75)
joint (3,-75)
joint (4,90)
joint (4,-90)
joint (5,45)
joint (5,-45)
joint (6,90)
joint (6,-90)
joint (1,60)
joint (4,90)
wx (4)
wy (3)
wz (2)
wz (-2)
wy (-3)
wx (-4)
joint (4,-90)
joint (1,-60)
tx (4)
ty (2)
tz (3)
ready()
move (_f)
depart (7)
ready()
appro (f,5)
ready()
grip (40)
grip_finish()
grip (10)
move (_f)
end main