language grl 0.1
module W2MotionDiagnostics
  const speed v = joint(30 %)
  const speed vl = linear(100 mm/s)
  const zone zf = fine
  target too_far_joint = joint_target { joints: [220 deg, 0 deg, 0 deg, 0 deg, 0 deg, 0 deg] }
  target unreachable_pose = pose_target { pose: pose(2000 mm, 0 mm, 2000 mm, 0 deg, 0 deg, 0 deg) }
  target arc_a = pose_target { pose: pose(500 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
  target arc_b = pose_target { pose: pose(550 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
  target arc_c = pose_target { pose: pose(600 mm, 0 mm, 0 mm, 0 deg, 0 deg, 0 deg) }
  path empty_path {
  }
  proc main()
    movej too_far_joint speed v zone zf
    movel unreachable_pose speed vl zone zf
    movec via arc_b target arc_c speed vl zone zf
    run_path empty_path
  end
end
