// kalimba #1
SetWRF(0.000, 0.000, 0.000, -0.000, 0.000, -0.000)
SetTRF(0.000, 0.000, 54.000, 0.000, 0.000, 0.000)
SetJointAcc(90.000)
SetJointVel(90.000)
SetCartAcc(90.000)
SetCartLinVel(90.000)
setblending(50.0)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L3
MoveJoints(3.885, 58.781, -2.74, -113.259, -60.141, 48.622)
delay(0.500)
MoveJoints(3.364, 61.036, -2.999, -112.566, -59.625, 46.369)
delay(0.500)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.250)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.500)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
delay(0.500)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.250)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.500)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
delay(0.500)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
delay(0.500)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
delay(0.500)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)
//L12
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
delay(1.000)
MoveJoints(-6.569, 39.1, 34.01, -112.212, -57.691, 28.255)
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
delay(1.000)
MoveJoints(-6.569, 39.1, 34.01, -112.212, -57.691, 28.255)
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)

//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)

//repeat
delay(1.000)

//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.250)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.500)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
delay(0.500)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.250)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L7
delay(0.500)
MoveJoints(0.651, 50.481, 14.441, -110.811, -58.284, 38.344)
MoveJoints(-0.127, 52.434, 14.245, -110.427, -57.963, 36.275)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
delay(0.500)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)

//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
delay(0.500)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L5
MoveJoints(2.51, 54.616, 6.108, -111.728, -59.015, 43.286)
MoveJoints(1.857, 56.362, 5.948, -111.342, -58.722, 41.428)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
delay(0.500)
//L4
MoveJoints(3.289, 56.984, 1.535, -112.359, -59.477, 45.835)
MoveJoints(2.459, 58.767, 1.382, -112.084, -59.253, 43.895)
//short backsafe upsafe
setblending(95.0)
MoveJoints(-0.303, 59.903, -2.537, -115.561, -61.688, 46.156)
MoveJoints(-0.303, 55.17, -2.273, -117.627, -63.69, 50.654)
setblending(50.0)
//L6
MoveJoints(1.974, 52.576, 10.118, -111.031, -58.534, 41.031)
MoveJoints(1.027, 54.544, 9.946, -110.755, -58.286, 38.885)
//backsafe upsafe
setblending(95.0)
MoveJoints(-8.324, 61.7, -4.48, -121.353, -65.566, 43.995)
MoveJoints(-8.324, 51.875, -4.83, -124.749, -71.128, 53.169)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)
//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)
//L12
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
delay(1.000)
MoveJoints(-6.569, 39.1, 34.01, -112.212, -57.691, 28.255)
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
delay(1.000)
MoveJoints(-6.569, 39.1, 34.01, -112.212, -57.691, 28.255)
MoveJoints(-5.037, 40.042, 33.877, -110.36, -56.992, 27.547)
MoveJoints(-6.569, 43.197, 33.836, -109.832, -56.283, 23.888)
//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)
//L10
MoveJoints(-3.657, 43.578, 26.81, -111.252, -57.852, 31.642)
MoveJoints(-4.704, 45.973, 26.545, -110.909, -57.396, 29.148)

//long backsafe upsafe
setblending(95.0)
MoveJoints(-8.65, 46.313, 25.75, -114.64, -58.679, 29.095)
MoveJoints(-9.736, 39.931, 28.263, -117.598, -60.714, 32.93)
setblending(50.0)

//end sequence

//L8
MoveJoints(-0.5, 48.064, 18.89, -110.578, -58.005, 35.913)
MoveJoints(-1.562, 50.457, 18.633, -110.215, -57.633, 33.384)

MoveJoints(-3.065, 50.978, 18.185, -111.457, -58.107, 33.076)
MoveJoints(-3.065, 46.297, 18.497, -113.885, -59.792, 37.782)

//L9
MoveJoints(-2.078, 46.143, 22.465, -110.939, -57.976, 33.837)
MoveJoints(-3.076, 48.867, 22.158, -110.371, -57.446, 31.019)

MoveJoints(-3.065, 50.978, 18.185, -111.457, -58.107, 33.076)
MoveJoints(-3.065, 46.297, 18.497, -113.885, -59.792, 37.782)
delay(1.000)
//L8
MoveJoints(-0.5, 48.064, 18.89, -110.578, -58.005, 35.913)
MoveJoints(-1.562, 50.457, 18.633, -110.215, -57.633, 33.384)

MoveJoints(-3.065, 50.978, 18.185, -111.457, -58.107, 33.076)
MoveJoints(-3.065, 46.297, 18.497, -113.885, -59.792, 37.782)

//L9
delay(0.500)
MoveJoints(-2.078, 46.143, 22.465, -110.939, -57.976, 33.837)
MoveJoints(-3.076, 48.867, 22.158, -110.371, -57.446, 31.019)

MoveJoints(-3.065, 50.978, 18.185, -111.457, -58.107, 33.076)
MoveJoints(-3.065, 46.297, 18.497, -113.885, -59.792, 37.782)
delay(2.000)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
setblending(50.0)
MoveJoints(-0.78, -13.605, 8.532, 40.71, 34.86, 0)