#include "../h/rccl.h"
#include "../h/umac.h"


pumatask()
{
	TRSF_PTR z, e , b0;
	POS_PTR  p0;
	int q;

	z = gentr_rot("Z",  0.,  0., 864., zunit, 0.); /* at the base */
	e = gentr_eul("E" , 0. , 0. , 170. , 0. , 0.,  0.);/* finger tips */
	b0 = gentr_rot("B0", 600. , -200., 800., yunit, 180.);
	b0->fn = varb;

	p0 = makeposition("P0" , z, t6, e, EQ, b0, TL, e);

	setmod('c');
	setvel(300, 100);
	move(p0);
	while (teach(b0, p0))
		;
	setvel(300, 100);
	move(park);
}
