%%%
  VERSION:1
  LANGUAGE:ENGLISH
%%%

MODULE CELL_332
  VAR bool CODE_OK:=FALSE;
  CONST robtarget seb:=[[-998.43,1535.29,1341.79],[0.057638,-0.863788,0.490527,0.099659],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p10:=[[-740.55,-783.37,517.52],[0.458665,-0.166915,-0.867064,-0.099829],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  VAR num touche_DV:=0;
  VAR num axe_1_DV:=0;
  VAR string affich2_DV:="";
  CONST string couple1_DV:="Mesure couple / Vitesse de l'axe : ";
  !
  !Points de la Production PQ35
  !
  !CONST robtarget apr1_a3_1:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr2_a3_1:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget dp_a3_1:=[[-488.8,145.91,703.84],[0.218626,-0.676124,-0.669313,-0.216978],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_p1_a1_1:=[[-537.53,-494.38,541.19],[0.566313,-0.424505,-0.426441,-0.563235],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget dep_a1_p1_1:=[[-539.03,-496.14,379.45],[0.566334,-0.424495,-0.426412,-0.563244],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget dp_a1_p1_1:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_a4_p1_1:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget att_a4_p1_1:=[[1383.41,-242.25,686.51],[0.022209,-0.94082,-0.062382,-0.332376],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg4_a1_1:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg3_a1_1:=[[-775.92,-712.09,449.58],[0.296397,-0.12415,-0.682372,-0.656586],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg2_a1_1:=[[-997.77,-474.94,-19.02],[0.272952,-0.099905,-0.686772,-0.666229],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg1_a1_1:=[[-997.79,-429.41,-239.03],[0.272904,-0.099796,-0.686877,-0.666157],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget pp_a1_1:=[[-1003.05,-347.02,-251.04],[0.263577,-0.090031,-0.688188,-0.66994],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr2_a1_1:=[[-1008.77,-460.23,-237],[0.272961,-0.099788,-0.686894,-0.666117],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_a1_1:=[[-773.73,-1058.88,-66.96],[0.42461,-0.030266,-0.709322,-0.56183],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg_a5_p1_1:=[[-760.5,70.09,385.52],[0.302033,-0.640194,-0.642122,-0.294291],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget dp_a5_p1_1:=[[-757.55,124.25,334.14],[0.302062,-0.640158,-0.642152,-0.294274],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_a5_p1_1:=[[-772.76,99.09,416.29],[0.302106,-0.640107,-0.642178,-0.294283],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget att_a5_p1_1:=[[-756.23,-398.1,488.31],[0.302106,-0.640082,-0.642206,-0.294276],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget int2_a4_p2_1:=[[1014.72,1156.7,839.34],[0.107724,-0.87301,-0.230315,-0.41618],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget int_a4_p2_1:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg2_a4_p2_1:=[[-504.27,-115.43,390.72],[0.320424,-0.636439,-0.618432,-0.331387],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg_a4_p2_1:=[[-518.39,7.35,387.19],[0.323635,-0.632203,-0.62341,-0.327016],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget pp_a4_p2_1:=[[-527.87,-17.87,344.72],[0.314058,-0.631485,-0.623709,-0.337018],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_a4_p2_1:=[[-508.37,-47.37,386.77],[0.317528,-0.637483,-0.617498,-0.333898],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget att_a4_p2_1:=[[-541.34,-611.88,560.5],[0.239432,-0.673644,-0.637589,-0.286979],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg2_a5_p1_1:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg2_a5_1:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg2_a7_1:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg1_a7_1:=[[-327.8,139.67,502.49],[0.251994,-0.667201,-0.652627,-0.255773],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget p_inter_home_1:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget dep_a7_1:=[[-320,-504,67],[0.251977,-0.667212,-0.652626,-0.255763],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr2_a7_1:=[[-342.28,181.88,441.34],[0.285721,-0.656271,-0.634861,-0.290899],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr1_a7_1:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget att_a7_1:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget deg_a5_p2_1:=[[-744.28,202.37,626.42],[0.349129,-0.609992,-0.628039,-0.334045],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget pp_a5_p2_1:=[[-768.15,144.29,775.21],[0.345434,-0.61305,-0.624266,-0.339318],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget apr_a5_p2_1:=[[-756.97,80.44,810.65],[0.345423,-0.613055,-0.624264,-0.339324],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !CONST robtarget att_a5_p2_1:=[[-756.13,-359.26,653.31],[0.302088,-0.64011,-0.642188,-0.294274],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 1
  !
  CONST robtarget apr1_a3_1:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_1:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_1:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_1:=[[-626.44,-521.42,561.13],[0.494095,-0.505215,-0.508562,-0.491928],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_1:=[[-626.33,-519.39,391.83],[0.520874,-0.477923,-0.481256,-0.518337],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_1:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_1:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_1:=[[1395.6,-597.53,1002.13],[0.012054,-0.875564,0.022834,-0.482413],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_1:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_1:=[[-561.13,-1083.64,696.61],[0.384198,-0.006105,-0.688904,-0.614627],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_1:=[[-965.2,-977.13,386.19],[0.06346,-0.568661,0.402218,0.714716],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_1:=[[-967.73,-649.29,31.28],[0.23356,-0.648739,0.253553,0.678453],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_1:=[[-1007.34,-625.22,-117.73],[0.280705,-0.654607,0.256042,0.653557],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_1:=[[-876.01,-731.47,-129.18],[0.239516,-0.650981,0.2479,0.676315],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_1:=[[-730.7,-1028.97,-49.57],[0.194105,-0.548907,0.450283,0.676956],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_1:=[[-765.34,44.8,519.56],[0.253269,-0.646705,-0.662335,-0.280962],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_1:=[[-750.55,99.51,472.08],[0.273215,-0.642504,-0.662922,-0.270326],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_1:=[[-749.2,101.51,582.55],[0.273222,-0.642504,-0.662921,-0.270321],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_1:=[[-755.28,-396.68,566.08],[0.302105,-0.64007,-0.642214,-0.294286],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_1:=[[954.15,1297.78,851.97],[0.107587,-0.873107,-0.230146,-0.416104],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_1:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_1:=[[-516.02,-165.29,418.95],[0.264709,-0.645104,-0.660085,-0.27939],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_1:=[[-516.44,-20.26,419.69],[0.260739,-0.652729,-0.657426,-0.271573],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_1:=[[-514.48,-15.92,404.47],[0.259362,-0.649391,-0.660752,-0.272819],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_1:=[[-516.64,-76.42,467.39],[0.259442,-0.649449,-0.660631,-0.272898],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_1:=[[-541.34,-611.87,619.73],[0.239431,-0.673641,-0.637594,-0.286973],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_1:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_1:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_1:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_1:=[[-353.48,-448.05,200.27],[0.144219,-0.699512,-0.684588,-0.145684],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_1:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_1:=[[-330.49,-565.78,223.44],[0.135951,-0.700223,-0.687312,-0.137137],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_1:=[[-350.15,-206.76,490.73],[0.285704,-0.656255,-0.634878,-0.290918],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_1:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_1:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_1:=[[-843.85,98.76,756.68],[0.377358,-0.59671,-0.603798,-0.370088],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_1:=[[-817.52,103.42,900.86],[0.376402,-0.593253,-0.602333,-0.378904],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_1:=[[-839.32,-170.8,972.8],[0.377369,-0.596706,-0.603796,-0.370088],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_1:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !
  !Points de la production 2
  !
  CONST robtarget apr1_a3_2:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_2:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_2:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_2:=[[-847.29,-503.21,603.08],[0.565294,-0.442162,0.433466,0.545017],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_2:=[[-850.85,-497.49,357.13],[0.554503,-0.450443,0.442891,0.541733],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_2:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_2:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_2:=[[1495.07,-713.32,1035.37],[0.647847,0.045594,0.758911,-0.047647],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_2:=[[1370.15,-1155.92,1018.06],[0.030028,-0.741675,0.449143,-0.49728],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_2:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_2:=[[-946.34,-559.97,25.38],[0.58468,-0.331972,-0.706066,-0.222296],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_2:=[[-943.62,-576.6,-13.49],[0.580406,-0.330951,-0.709107,-0.225317],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_2:=[[-932.12,-605.66,6.62],[0.591997,-0.325371,-0.709646,-0.200189],[-1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_2:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_2:=[[-715.96,-852.72,66.46],[0.584616,-0.331902,-0.706155,-0.222283],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_2:=[[-826.9,-37.41,385.8],[0.312885,-0.626364,-0.645525,-0.305071],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_2:=[[-839.75,83.98,340.17],[0.286324,-0.647144,-0.649031,-0.279253],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_2:=[[-839.78,83.96,475.19],[0.286335,-0.647139,-0.649033,-0.279249],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_2:=[[-738.73,-366.77,582.1],[0.329894,-0.628723,-0.623762,-0.326799],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_2:=[[414.38,1985.58,992.48],[0.209528,-0.755977,-0.233879,-0.574368],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_2:=[[1007.85,980.37,846.98],[0.255668,-0.773686,-0.389562,-0.429286],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_2:=[[-612.16,-165.81,413.44],[0.30447,-0.621997,-0.650102,-0.312706],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_2:=[[-541.49,10.32,370.36],[0.285745,-0.646953,-0.646881,-0.285214],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_2:=[[-547.9,13.58,350.74],[0.278803,-0.648432,-0.64647,-0.289622],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_2:=[[-590.9,-299.35,548.78],[0.391995,-0.571309,-0.641622,-0.329041],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_2:=[[-443.67,-626.68,855.02],[0.176856,-0.681365,-0.687821,-0.177105],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_2:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_2:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_2:=[[-325.68,-813.45,302.76],[0.295527,-0.63591,-0.639382,-0.315392],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_2:=[[-325.68,-813.45,302.76],[0.295523,-0.635901,-0.639392,-0.315393],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_2:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_2:=[[-324.01,-713.38,248.94],[0.349667,-0.60625,-0.611167,-0.369688],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_2:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_2:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_2:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_2:=[[-811.16,140.46,584.54],[0.404976,-0.568524,-0.57823,-0.422403],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_2:=[[-810.75,152.55,752.93],[0.393969,-0.579553,-0.586363,-0.406306],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_2:=[[-877.62,-92.71,830.85],[0.353632,-0.612543,-0.60716,-0.362066],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_2:=[[-823.31,-638.9,902.51],[0.313869,-0.624385,-0.647856,-0.303169],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 3
  !
  CONST robtarget apr1_a3_3:=[[-574.9,-169.45,999.44],[0.058238,-0.707935,-0.701717,-0.055048],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_3:=[[-581.1,129.38,754.78],[0.058212,-0.707927,-0.701729,-0.05503],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_3:=[[-571.02,121.96,641.41],[0.308953,-0.637836,-0.634352,-0.308727],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_3:=[[-597.04,-522.09,447.84],[0.015434,-0.695051,-0.7182,-0.029236],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_3:=[[-631.75,-506.27,289.63],[0.019842,-0.69626,-0.716474,-0.038654],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_3:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_3:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_3:=[[903.24,-1532.59,996.89],[0.039954,0.494352,-0.868322,-0.006063],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_3:=[[1553.73,-1554.86,981.41],[0.028794,-0.017294,0.999344,-0.013565],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_3:=[[-719.68,-1070.67,288.02],[0.051629,-0.995342,-0.030441,-0.075518],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_3:=[[-761.11,-919.97,197.98],[0.011454,-0.995269,-0.091766,0.029782],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_3:=[[-778.78,-889.43,60.92],[0.011431,-0.995269,-0.091778,0.029783],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_3:=[[-734.14,-859.23,59.7],[0.019184,-0.993035,-0.112857,0.027877],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_3:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_3:=[[-715.65,-870.04,227.62],[0.013038,-0.991292,-0.127507,0.030196],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_3:=[[-804.49,-64.93,467.42],[0.365412,-0.599645,-0.603975,-0.376981],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_3:=[[-879.14,80.63,434.71],[0.39788,-0.574628,-0.600371,-0.38865],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_3:=[[-875.69,86.54,513.85],[0.395146,-0.576517,-0.598513,-0.391497],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_3:=[[-808.93,-296.64,674.84],[0.302104,-0.640079,-0.64221,-0.294275],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_3:=[[954.15,1297.78,851.97],[0.107587,-0.873107,-0.230146,-0.416104],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_3:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_3:=[[-586,-113.87,415.29],[0.267922,-0.64666,-0.663449,-0.264357],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_3:=[[-563.51,-13.34,302.5],[0.402841,-0.564663,-0.580072,-0.427073],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_3:=[[-589.08,-14.82,271.64],[0.407809,-0.570391,-0.574535,-0.422202],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_3:=[[-582.34,-161.94,319.07],[0.423847,-0.560735,-0.566056,-0.430709],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_3:=[[-541.34,-611.87,619.73],[0.239431,-0.673641,-0.637594,-0.286973],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_3:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_3:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_3:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_3:=[[-353.48,-448.05,200.27],[0.144219,-0.699512,-0.684588,-0.145684],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_3:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_3:=[[-297.88,-654.69,303.03],[0.12824,-0.703298,-0.685939,-0.135697],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_3:=[[-350.15,-206.76,490.73],[0.285704,-0.656255,-0.634878,-0.290918],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_3:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_3:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_3:=[[-844.17,128.28,730.94],[0.377362,-0.596713,-0.603797,-0.370081],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_3:=[[-904.95,153.92,860.45],[0.472648,-0.508268,-0.533733,-0.483111],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_3:=[[-886.31,-97.45,867.16],[0.472621,-0.508285,-0.533837,-0.483006],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_3:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 4
  !
  CONST robtarget apr1_a3_4:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_4:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_4:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_4:=[[-378.13,-524.17,495.36],[0.461436,-0.53503,0.547806,0.448028],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_4:=[[-376.64,-527.72,344.6],[0.455052,-0.524415,0.546308,0.468471],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_4:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_4:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_4:=[[1170.76,-1172.91,1008.46],[0.851881,0.07828,0.490192,-0.166982],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_4:=[[1170.83,-1172.83,1008.22],[0.851813,0.07826,0.490337,-0.166915],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_4:=[[-536.27,-1533.7,344.44],[0.778124,-0.115434,-0.617412,-0.000786],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_4:=[[-855.68,-1278.01,225.34],[0.669241,-0.23863,-0.687604,-0.149578],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_4:=[[-1150.83,-965.89,287.28],[0.666744,-0.226165,-0.67142,-0.231295],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_4:=[[-1110.86,-923.93,66.7],[0.675676,-0.25784,-0.660052,-0.203252],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_4:=[[-856.89,-1145.1,68.11],[0.672103,-0.255378,-0.660042,-0.217725],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_4:=[[-810.33,-1157.58,186.68],[0.540543,-0.282844,-0.760699,-0.221697],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_4:=[[-707.09,92.62,347.08],[0.311543,-0.649304,-0.634686,-0.280213],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_4:=[[-706.89,88.68,494.31],[0.302615,-0.650906,-0.634923,-0.285691],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_4:=[[-756.23,-398.1,488.31],[0.302106,-0.640082,-0.642206,-0.294276],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_4:=[[954.18,1297.65,851.87],[0.107515,-0.873148,-0.230082,-0.416072],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_4:=[[954.36,711.66,1111.05],[0.028365,-0.918854,-0.16589,-0.356908],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_4:=[[-490.12,-379.63,536.73],[0.322761,-0.631438,-0.638853,-0.298291],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_4:=[[-426.42,-45.8,340.96],[0.317076,-0.634333,-0.636125,-0.304022],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_4:=[[-442.3,-43.58,318.53],[0.328081,-0.651343,-0.616099,-0.297552],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_4:=[[-419.9,-787.21,778.43],[0.51531,-0.493669,-0.495615,-0.495088],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_4:=[[-470.07,-751.12,762.45],[0.341403,-0.626473,-0.642866,-0.278745],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_4:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_4:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a7_4:=[[-18.33,-1181.59,741.07],[0.325915,-0.634576,-0.6207,-0.325307],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_4:=[[-519.54,-798.51,311.18],[0.323418,-0.632293,0.631871,0.310395],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_4:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_4:=[[-625.65,-519.82,180.82],[0.323415,-0.632288,0.631873,0.310402],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_4:=[[-625.63,-519.81,725.44],[0.32342,-0.632289,0.631871,0.310402],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_4:=[[-320.19,-504.22,388.89],[0.251663,-0.667413,-0.652654,-0.255478],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_4:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_4:=[[-672.68,164.76,550.77],[0.411211,-0.574495,-0.57989,-0.405694],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_4:=[[-690.12,146.69,753.41],[0.409979,-0.578149,-0.580236,-0.401232],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_4:=[[-676.04,-216.9,909.79],[0.409988,-0.578147,-0.580216,-0.401256],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_4:=[[-649,-347.99,834.34],[0.30209,-0.640104,-0.642191,-0.294279],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 5
  !
  CONST robtarget apr1_a3_5:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_5:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_5:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_5:=[[-560.58,-661.55,954.05],[0.629892,-0.339521,0.340446,0.609966],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_5:=[[-611.61,-682.43,374.85],[0.56513,-0.448273,0.421755,0.549366],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_5:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_5:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_5:=[[1170.76,-1172.91,1008.46],[0.851881,0.07828,0.490192,-0.166982],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_5:=[[1170.83,-1172.83,1008.22],[0.851813,0.07826,0.490337,-0.166915],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_5:=[[-536.27,-1533.7,344.44],[0.778124,-0.115434,-0.617412,-0.000786],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_5:=[[-855.68,-1278.01,225.34],[0.669241,-0.23863,-0.687604,-0.149578],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_5:=[[-1097.3,-895.72,19.67],[0.51983,-0.349132,-0.716822,-0.306677],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_5:=[[-1063.16,-775.9,-44.75],[0.542766,-0.361717,-0.6601,-0.372606],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_5:=[[-894.17,-1102.54,-17.65],[0.55378,-0.378233,-0.648783,-0.35965],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_5:=[[-1216.39,-1353.74,334.58],[0.580927,-0.228091,-0.772738,-0.11565],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_5:=[[-739.58,35.08,394.52],[0.318757,-0.631038,-0.640648,-0.299592],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_5:=[[-755.14,39.04,471.99],[0.313971,-0.625672,-0.647093,-0.302039],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_5:=[[-465.31,-697.92,756.75],[0.317234,-0.624691,-0.63386,-0.327635],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_5:=[[792.49,1207.08,1001.47],[0.107508,-0.873154,-0.230076,-0.416064],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_5:=[[954.36,711.66,1111.05],[0.028365,-0.918854,-0.16589,-0.356908],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_5:=[[-428.26,-315.38,387.76],[0.298056,-0.634865,-0.64296,-0.307752],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_5:=[[-436.63,-190.32,384.76],[0.29085,-0.632463,-0.649941,-0.304916],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_5:=[[-440.34,-178.38,327.12],[0.302876,-0.629062,-0.639848,-0.321157],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_5:=[[-502.79,-296.12,417.17],[0.287005,-0.645005,-0.645134,-0.29223],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_5:=[[-609.23,-780.17,724.94],[0.17057,-0.672148,-0.694142,-0.193106],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_5:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_5:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a7_5:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_5:=[[-308.7,-486.74,192.36],[0.248859,-0.65504,-0.663073,-0.263298],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_5:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_5:=[[-334.76,-575.81,212.74],[0.248865,-0.655045,-0.663066,-0.263298],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_5:=[[-385.43,-537.98,538.29],[0.250785,-0.665208,-0.654057,-0.258483],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_5:=[[-320.19,-504.22,388.89],[0.251663,-0.667413,-0.652654,-0.255478],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_5:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_5:=[[-870.64,98.69,656.96],[0.464816,-0.518357,-0.548115,-0.463488],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_5:=[[-873.55,93.39,790.59],[0.464764,-0.518463,-0.548114,-0.463425],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_5:=[[-871.04,-54.89,819.08],[0.49483,-0.506358,-0.562148,-0.427475],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_5:=[[-716.02,-567.25,666.72],[0.319506,-0.619846,-0.642707,-0.31723],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 6
  !
  CONST robtarget apr1_a3_6:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_6:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_6:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_6:=[[-752.28,-164.35,398.52],[0.397429,-0.67604,0.620496,-0.002058],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_6:=[[-758.47,-163.63,341.7],[0.379242,-0.673739,0.633981,-0.017882],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_6:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_6:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_6:=[[462.5,-914.39,2474],[0.951438,0.292507,0.079467,0.053763],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_6:=[[1365.68,-1168.07,1730.29],[0.026961,0.287923,-0.065542,0.955028],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_6:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_6:=[[-960.16,-816.93,767.94],[0.955347,-0.053466,-0.290332,0.012733],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_6:=[[-976.29,-684.58,300.76],[0.955346,-0.053466,-0.290332,0.012739],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_6:=[[-988.19,-708.69,307.49],[0.954654,-0.053702,-0.292285,0.01793],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_6:=[[-237.71,-1008.9,511.16],[0.953329,-0.232073,-0.180844,-0.067839],[-1,-2,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_6:=[[-791.22,-760.41,29.58],[0.947781,-0.10309,-0.300038,0.032579],[-1,-3,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_6:=[[-688,68.26,393.33],[0.148478,-0.532845,0.623135,0.552932],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_6:=[[-725.79,283.62,323.61],[0.118795,-0.551521,0.636732,0.525628],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_6:=[[-720.7,292.27,463.43],[0.118791,-0.551527,0.636724,0.525633],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_6:=[[-711.83,284.77,312.45],[0.119433,-0.540651,0.653522,0.516082],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_6:=[[414.38,1985.58,992.48],[0.209528,-0.755977,-0.233879,-0.574368],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_6:=[[388.4,2232.02,1018.76],[0.365375,-0.141203,0.839934,0.375599],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_6:=[[-508.86,222.74,353.49],[0.134602,-0.548657,0.62872,0.534387],[-1,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_6:=[[-460.77,401.16,313.58],[0.132963,-0.5473,0.62902,0.535834],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_6:=[[-458.02,418.15,290.17],[0.135087,-0.548207,0.629057,0.534329],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_6:=[[-83.25,-340.12,652.32],[0.134638,-0.548665,0.628718,0.534373],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_6:=[[-473.81,-444.38,740.41],[0.134599,-0.548662,0.628717,0.534386],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_6:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_6:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_6:=[[-325.68,-813.45,302.76],[0.295527,-0.63591,-0.639382,-0.315392],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_6:=[[-248.75,-567.44,534.45],[0.150118,0.51879,-0.83038,-0.13708],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_6:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_6:=[[-248.76,-567.44,214.29],[0.150119,0.518793,-0.830377,-0.137083],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_6:=[[-248.8,-567.44,497.04],[0.150126,0.518797,-0.830374,-0.137078],[1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_6:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_6:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_6:=[[-720.77,289.29,541.21],[0.14847,-0.532863,0.623112,0.552942],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_6:=[[-720.61,285.39,328],[0.148484,-0.53286,0.623117,0.552936],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_6:=[[-688.87,66.93,371.17],[0.148397,-0.533,0.623069,0.552878],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_6:=[[-717.49,-274.92,704.65],[0.148487,-0.532844,0.623139,0.552926],[0,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 7
  !
  CONST robtarget apr1_a3_7:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_7:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_7:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_7:=[[-712.33,-764.84,572.87],[0.267444,-0.645449,-0.66239,-0.270388],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_7:=[[-694.34,-755.98,445.97],[0.281823,-0.63634,-0.66024,-0.282365],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_7:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_7:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_7:=[[1330.87,-71.59,1229.44],[0.004938,-0.986986,-0.123315,-0.103089],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_7:=[[1239.32,-855.14,1110.4],[0.04556,0.769609,-0.097548,0.629374],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_7:=[[-1077.81,-613.37,250.09],[0.598795,-0.359041,0.302214,0.649],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_7:=[[-906.1,-884.82,80.27],[0.470972,-0.3754,0.207359,0.770884],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_7:=[[-923.15,-807.73,-139.47],[0.485254,-0.374444,0.209147,0.761957],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_7:=[[-945.26,-807.15,-155.04],[0.485893,-0.374089,0.209446,0.761642],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_7:=[[-891.23,-987.54,-226.91],[0.465224,-0.381679,0.194439,0.774649],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_7:=[[-635.86,-1163.99,-242.72],[0.465222,-0.381686,0.194449,0.774644],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_7:=[[-890.75,-52.95,494.23],[0.301822,-0.629953,-0.649666,-0.299995],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_7:=[[-897.34,-52,572.27],[0.300793,-0.627944,-0.652043,-0.300083],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_7:=[[-775.3,-961.85,568.77],[0.182023,-0.65742,-0.718274,-0.136927],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_7:=[[954.18,1297.65,851.87],[0.107515,-0.873148,-0.230082,-0.416072],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_7:=[[703.13,850.99,1175.44],[0.051057,-0.898886,-0.112142,-0.420502],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_7:=[[-690.05,-729.06,791.06],[0.298238,-0.6429,-0.641268,-0.294124],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_7:=[[-581.67,-502.91,595.86],[0.264475,-0.648426,-0.656008,-0.281513],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_7:=[[-607.52,-256.98,448.96],[0.288937,-0.63596,-0.648198,-0.303166],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_7:=[[-567.74,-327.81,509.21],[0.298283,-0.642843,-0.641218,-0.294313],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_7:=[[-544.22,-729.18,707],[0.10886,-0.685076,-0.703439,-0.1549],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_7:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_7:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a7_7:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_7:=[[-370.34,-481.67,332.65],[0.267076,-0.651869,-0.650982,-0.282773],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_7:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_7:=[[-370.35,-481.68,280.53],[0.267071,-0.651875,-0.65098,-0.282766],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_7:=[[-409.23,-268.06,701.68],[0.26117,-0.672054,-0.632574,-0.282815],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_7:=[[-320.19,-504.22,388.89],[0.251663,-0.667413,-0.652654,-0.255478],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_7:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_7:=[[-884.15,13.48,610.49],[0.359643,-0.617772,-0.602078,-0.355691],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_7:=[[-863.27,20.49,910.34],[0.378061,-0.584339,-0.614544,-0.371421],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_7:=[[-861.85,-158.74,1004.54],[0.372852,-0.609947,-0.594231,-0.368559],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_7:=[[-817.04,-655.65,687.61],[0.337234,-0.631344,-0.612737,-0.335011],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_15_7:=[[-1189.87,-1569.61,1082.28],[0.386194,-0.334778,-0.81053,-0.28604],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_14_7:=[[329.18,1198.02,1375.16],[0.054794,-0.751431,-0.651612,-0.088039],[0,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_13_7:=[[-607.24,-256.65,478.41],[0.28893,-0.635953,-0.648203,-0.303177],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_12_7:=[[-810.75,-286.19,672.58],[0.275808,-0.653334,-0.655497,-0.259632],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_13_7:=[[-920.43,-900.39,-227.2],[0.465236,-0.381676,0.194437,0.774644],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_12_7:=[[-666.37,-949.23,467.77],[0.581537,-0.679226,-0.380708,0.235643],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_12_7:=[[1409.44,-1347.26,1554.68],[0.324088,-0.089802,0.940723,0.044081],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att2_a4_p1_7:=[[329.18,1198.02,1375.16],[0.054794,-0.751431,-0.651612,-0.088039],[0,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 8
  !
  CONST robtarget apr1_a3_8:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_8:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_8:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_8:=[[-568.34,-522.45,622.69],[0.489043,-0.497367,-0.506236,-0.507138],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_8:=[[-554.2,-526.38,384.33],[0.489018,-0.497975,-0.506053,-0.506746],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_8:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_8:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_8:=[[1395.6,-597.53,1002.13],[0.012054,-0.875564,0.022834,-0.482413],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_8:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_8:=[[-835.51,-1307.86,686.02],[0.020959,0.375012,-0.684107,-0.62524],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_8:=[[-965.2,-977.13,386.19],[0.06346,-0.568661,0.402218,0.714716],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_8:=[[-1007.75,-681.14,54.08],[0.248499,-0.656292,0.234912,0.672566],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_8:=[[-994.62,-693.43,-47.01],[0.221575,-0.65896,0.204804,0.689008],[-1,-3,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_8:=[[-733.49,-892.51,-32.07],[0.216923,-0.650704,0.212071,0.6961],[-1,-3,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_8:=[[-730.7,-1028.97,-49.57],[0.194105,-0.548907,0.450283,0.676956],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_8:=[[-769,66.27,535],[0.253138,-0.646847,-0.662285,-0.280871],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_8:=[[-798,119,491.35],[0.258203,-0.649418,-0.672645,-0.24318],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_8:=[[-779.17,113.76,574.74],[0.263529,-0.658482,-0.661293,-0.244226],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_8:=[[-786.67,-426.71,606.31],[0.239694,-0.651525,-0.663566,-0.278823],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_8:=[[954.15,1297.78,851.97],[0.107587,-0.873107,-0.230146,-0.416104],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_8:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_8:=[[-566.46,-344.74,445.52],[0.251106,-0.656447,-0.664692,-0.253392],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_8:=[[-520.18,-100.06,442.42],[0.251101,-0.656432,-0.664709,-0.253394],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_8:=[[-513.26,-9.91,389.1],[0.261299,-0.647181,-0.656719,-0.285657],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_8:=[[-568.75,-87.47,470.09],[0.251111,-0.656459,-0.664689,-0.253365],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_8:=[[-600.67,-601.52,598.95],[0.214573,-0.662767,-0.681896,-0.222974],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_8:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_8:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_8:=[[-414.65,-815.85,727.06],[0.213006,-0.672788,-0.676291,-0.211222],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_8:=[[-450.62,-524.68,232.6],[0.154644,-0.699776,-0.682226,-0.144794],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_8:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_8:=[[-353,-705,286.12],[0.280511,-0.641411,-0.648761,-0.298353],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_8:=[[-444.88,-645.54,490.81],[0.28571,-0.656256,-0.634869,-0.290927],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_8:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_8:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_8:=[[-881.08,126.06,706.55],[0.451173,-0.506093,-0.555628,-0.481239],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_8:=[[-874.92,152.72,901.86],[0.467258,-0.523516,-0.538224,-0.466814],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_8:=[[-943.67,-148.14,898.4],[0.464681,-0.521582,-0.541104,-0.468221],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_8:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 9
  !
  CONST robtarget apr1_a3_9:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_9:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_9:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_9:=[[-626.44,-521.42,561.13],[0.494095,-0.505215,-0.508562,-0.491928],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_9:=[[-608.13,-526.72,386.82],[0.493624,-0.50608,-0.502493,-0.497714],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_9:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_9:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_9:=[[1395.6,-597.53,1002.13],[0.012054,-0.875564,0.022834,-0.482413],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_9:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_9:=[[-835.51,-1307.86,686.02],[0.020959,0.375012,-0.684107,-0.62524],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_9:=[[-965.2,-977.13,386.19],[0.06346,-0.568661,0.402218,0.714716],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_9:=[[-1003.57,-653.24,35.41],[0.238002,-0.650674,0.248558,0.676903],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_9:=[[-1008.26,-640.17,-60.3],[0.23888,-0.655937,0.233728,0.676798],[-1,-3,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_9:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_9:=[[-730.7,-1028.97,-49.57],[0.194105,-0.548907,0.450283,0.676956],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_9:=[[-765.78,43.91,477.11],[0.253136,-0.646856,-0.662278,-0.280867],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_9:=[[-774.97,92.65,456.58],[0.233683,-0.642609,-0.677196,-0.271758],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_9:=[[-773.78,94.42,553.29],[0.233694,-0.642615,-0.677187,-0.271754],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_9:=[[-754.33,-398.44,599.28],[0.28562,-0.604116,-0.676149,-0.310302],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_9:=[[751.9,1007.89,851.97],[0.107593,-0.873111,-0.230142,-0.416096],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_9:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_9:=[[-516.08,-165.56,410.36],[0.263703,-0.642694,-0.662425,-0.280355],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_9:=[[-521.68,-29.55,403.27],[0.255029,-0.625106,-0.679092,-0.288161],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_9:=[[-521.8,-14.31,368.93],[0.251031,-0.628668,-0.678357,-0.285643],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_9:=[[-516.93,-76.76,436.68],[0.259443,-0.649456,-0.660625,-0.272895],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_9:=[[-541.34,-611.87,619.73],[0.239431,-0.673641,-0.637594,-0.286973],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_9:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_9:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_9:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_9:=[[-387.18,-569.1,255.14],[0.130739,-0.700871,-0.688834,-0.131127],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_9:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_9:=[[-382.87,-648.07,249.33],[0.130736,-0.700882,-0.688824,-0.131126],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_9:=[[-350.15,-206.76,490.73],[0.285704,-0.656255,-0.634878,-0.290918],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_9:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_9:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_9:=[[-808.78,66.67,772.6],[0.37736,-0.5967,-0.603802,-0.370097],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_9:=[[-837.83,102.37,885.3],[0.377607,-0.591328,-0.603215,-0.379311],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_9:=[[-839.34,-170.82,972.6],[0.377317,-0.596817,-0.603792,-0.369969],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_9:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 10
  !
  CONST robtarget apr1_a3_10:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_10:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_10:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_10:=[[-626.44,-521.42,561.13],[0.494095,-0.505215,-0.508562,-0.491928],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_10:=[[-626.45,-521.44,387.87],[0.494103,-0.505222,-0.508553,-0.491922],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_10:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_10:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_10:=[[1395.6,-597.53,1002.13],[0.012054,-0.875564,0.022834,-0.482413],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_10:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_10:=[[-561.13,-1083.64,696.61],[0.384198,-0.006105,-0.688904,-0.614627],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_10:=[[-798.14,-983.62,204.81],[0.040125,0.02716,-0.998792,-0.008196],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_10:=[[-804.6,-984.57,60.98],[0.040118,0.027159,-0.998792,-0.008199],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_10:=[[-834.47,-954.14,61.13],[0.042833,0.028956,-0.998608,-0.010454],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_10:=[[-842.28,-960.4,209.48],[0.043037,0.023271,-0.998751,-0.010114],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_10:=[[-624.39,-1226.57,485.09],[0.067845,0.021218,-0.99727,-0.02001],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_10:=[[-765.87,44.01,477.32],[0.253267,-0.6467,-0.66234,-0.280964],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_10:=[[-824.97,94.56,414.6],[0.29368,-0.648471,-0.632552,-0.305148],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_10:=[[-828.73,87.29,539.87],[0.293682,-0.648478,-0.632548,-0.305141],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_10:=[[-756.23,-398.1,488.31],[0.302106,-0.640082,-0.642206,-0.294276],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_10:=[[954.15,1297.78,851.97],[0.107587,-0.873107,-0.230146,-0.416104],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_10:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_10:=[[-553.48,-156.11,410.61],[0.2637,-0.64269,-0.662429,-0.280357],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_10:=[[-573.84,-153.41,351.94],[0.308495,-0.631428,-0.648863,-0.291731],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_10:=[[-576.29,-38.34,312.73],[0.308512,-0.631442,-0.648846,-0.291719],[-1,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_10:=[[-516.93,-76.76,436.68],[0.259443,-0.649456,-0.660625,-0.272895],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_10:=[[-541.34,-611.87,619.73],[0.239431,-0.673641,-0.637594,-0.286973],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_10:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_10:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_10:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_10:=[[-353.48,-448.05,200.27],[0.144219,-0.699512,-0.684588,-0.145684],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_10:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_10:=[[-360.59,-432.98,40.32],[0.284581,-0.653805,-0.637397,-0.292022],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_10:=[[-360.5,-432.92,577.28],[0.284581,-0.6538,-0.637401,-0.292027],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_10:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_10:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_10:=[[-929.41,-480.79,702.92],[0.376832,-0.597021,-0.60424,-0.369401],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_10:=[[-837.9,143,819.82],[0.377369,-0.596726,-0.603781,-0.37008],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_10:=[[-839.32,-170.8,972.8],[0.377369,-0.596706,-0.603796,-0.370088],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_10:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !
  !Points de la production 11
  !
  CONST robtarget apr1_a3_11:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_11:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_11:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_11:=[[-675.1,-806.4,706.07],[0.299194,-0.631576,-0.650923,-0.296469],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_11:=[[-674.52,-752.25,453.81],[0.299202,-0.631584,-0.650913,-0.296468],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_11:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_11:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_11:=[[1330.86,-71.59,1229.42],[0.004948,-0.986988,-0.1233,-0.103087],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_11:=[[1239.32,-855.13,1110.4],[0.04556,0.769609,-0.097542,0.629375],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_11:=[[-1077.81,-613.37,250.09],[0.598795,-0.359041,0.302214,0.649],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_11:=[[-971.27,-840.25,80.25],[0.470962,-0.375406,0.207365,0.770886],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_11:=[[-1007.86,-864.29,-122.59],[0.468526,-0.378212,0.207365,0.770999],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_11:=[[-991,-836.87,-131.2],[0.472889,-0.377031,0.209516,0.768327],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_11:=[[-891.23,-987.54,-226.93],[0.465216,-0.381687,0.194457,0.774646],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_11:=[[-635.85,-1163.99,-242.73],[0.465224,-0.381689,0.194448,0.774642],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_11:=[[-867.56,-48.54,492.72],[0.290568,-0.634557,-0.657277,-0.284419],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_11:=[[-884.22,-65.67,580.5],[0.289962,-0.6358,-0.656106,-0.284966],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_11:=[[-969.85,-958.69,568.77],[0.182022,-0.657438,-0.718261,-0.13691],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_11:=[[954.18,1297.65,851.87],[0.107515,-0.873148,-0.230082,-0.416072],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_11:=[[703.13,850.99,1175.44],[0.051062,-0.898886,-0.112134,-0.420504],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_11:=[[-690.05,-729.06,791.07],[0.298248,-0.642912,-0.641257,-0.294113],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_11:=[[-613.17,-515.39,582.91],[0.298263,-0.64282,-0.64134,-0.294115],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_11:=[[-593.51,-249.09,459.56],[0.278284,-0.64504,-0.648446,-0.293258],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_11:=[[-567.75,-327.83,509.21],[0.2983,-0.642859,-0.641201,-0.294297],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_11:=[[-597.67,-796.3,554.67],[0.107967,-0.697821,-0.699144,-0.112195],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_11:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_11:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a7_11:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_11:=[[-361.3,-233.23,471.27],[0.260815,-0.672257,-0.63261,-0.282578],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_11:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_11:=[[-384.44,-559.53,349.53],[0.018648,0.710341,0.703448,-0.015139],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_11:=[[-433.32,-517.62,854.64],[0.124622,-0.700961,-0.691831,-0.120381],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_11:=[[-320.19,-504.22,388.89],[0.251663,-0.667413,-0.652654,-0.255478],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_11:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_11:=[[-852.57,44.13,650.19],[0.442385,-0.548362,-0.555622,-0.441451],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_11:=[[-853.24,-45.22,910.61],[0.443535,-0.545418,-0.557949,-0.441009],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_11:=[[-851.63,-134.48,930.38],[0.443449,-0.545586,-0.557915,-0.440932],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_11:=[[-817.04,-655.67,687.6],[0.33723,-0.631365,-0.612726,-0.334994],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 12
  !
  CONST robtarget apr1_a3_12:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_12:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_12:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_12:=[[-570.6,-526.28,388.14],[0.174435,-0.6774,-0.691856,-0.178992],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_12:=[[-568.51,-515.77,300.74],[0.173024,-0.677598,-0.690807,-0.183602],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_12:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_12:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_12:=[[1186.52,-368.45,1221.27],[0.01941,-0.984291,-0.146543,-0.096546],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_12:=[[1202.47,-1476.25,1221.39],[0.028318,0.750066,-0.643045,0.151962],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_12:=[[-719.68,-1070.67,288.02],[0.051629,-0.995342,-0.030441,-0.075518],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_12:=[[-730.37,-1060.04,292.3],[0.020097,-0.98245,-0.070548,-0.171495],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_12:=[[-764.43,-962.6,84.83],[0.032941,-0.984326,-0.068631,-0.159082],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_12:=[[-768.74,-934.49,84.97],[0.03486,-0.984305,-0.069477,-0.158433],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_12:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_12:=[[-785.42,-964.36,195.99],[0.065158,-0.98731,-0.066817,-0.128485],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_12:=[[-826.43,-17.64,483.97],[0.350749,-0.60348,-0.628303,-0.343545],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_12:=[[-833.53,86.5,445.79],[0.347839,-0.610406,-0.618499,-0.351954],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_12:=[[-832.78,87.63,508.83],[0.347853,-0.610397,-0.618502,-0.351952],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_12:=[[-756.14,-398.67,570],[0.298233,-0.63164,-0.65051,-0.298203],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_12:=[[954.15,1297.78,851.97],[0.107587,-0.873107,-0.230146,-0.416104],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_12:=[[1334.48,314.66,839.34],[0.107733,-0.87301,-0.230331,-0.416167],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_12:=[[-582,-95.02,358.76],[0.269177,-0.649923,-0.660226,-0.263145],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_12:=[[-575.79,-12.48,307.21],[0.374545,-0.591962,-0.598746,-0.38833],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_12:=[[-574.07,3.25,282.23],[0.374529,-0.591946,-0.598772,-0.38833],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_12:=[[-585.67,-79.13,414.87],[0.264195,-0.661145,-0.648965,-0.268204],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_12:=[[-541.34,-611.87,619.73],[0.239431,-0.673641,-0.637594,-0.286973],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_12:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_12:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_12:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_12:=[[-415.03,-642.02,309.84],[0.043687,-0.696002,0.716585,0.013368],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_12:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_12:=[[-415.37,-642.41,268.63],[0.048275,-0.694535,0.717507,0.021783],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_12:=[[-414.93,-642.01,636.99],[0.043697,-0.695989,0.716597,0.013368],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_12:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_12:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_12:=[[-843.84,128.76,756.69],[0.37736,-0.59671,-0.603797,-0.370089],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_12:=[[-835.81,139.29,843.48],[0.376569,-0.597922,-0.603536,-0.369364],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_12:=[[-830.4,19.76,909.35],[0.376629,-0.597894,-0.603546,-0.369331],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_12:=[[-756.11,-359.25,653.3],[0.302075,-0.640128,-0.642177,-0.294271],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 13
  !
  CONST robtarget apr1_a3_13:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_13:=[[-597.16,37.46,754.54],[0.308775,-0.63749,-0.634711,-0.308881],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_13:=[[-539.6,142.47,643.39],[0.308777,-0.637498,-0.634705,-0.308875],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_13:=[[-646.11,-454.65,616.4],[0.380724,-0.592043,-0.601712,-0.377462],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_13:=[[-648.16,-457.04,397.47],[0.380724,-0.592039,-0.601715,-0.377464],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_13:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_13:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1m_13:=[[1453.2,-255.65,1124.52],[0.098186,-0.661993,-0.12005,-0.733289],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1m_13:=[[1404.78,-972.99,1604.71],[0.190741,-0.510442,0.405039,-0.734174],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_13:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_13:=[[-1086.93,-660.84,361.21],[0.282858,-0.585776,0.300704,0.697449],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1m_13:=[[-1086.98,-660.8,12.83],[0.282853,-0.585779,0.300707,0.697447],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_13:=[[-1073.35,-740.78,-60.02],[0.28404,-0.609391,0.264818,0.691257],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_13:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_13:=[[-891.25,-875.21,-84.99],[0.276711,-0.6113,0.266622,0.69185],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_13:=[[-787.42,4.61,402.91],[0.324744,-0.627142,-0.622926,-0.336448],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_13:=[[-831.01,110.09,381.5],[0.320791,-0.635172,-0.628569,-0.313928],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_13:=[[-838.8,110.16,532.08],[0.344915,-0.607426,-0.629442,-0.340396],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_13:=[[-738.73,-366.77,582.1],[0.329894,-0.628723,-0.623762,-0.326799],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_13:=[[414.38,1985.58,992.48],[0.209528,-0.755977,-0.233879,-0.574368],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_13:=[[1007.84,980.38,847],[0.140673,-0.8212,-0.244185,-0.496202],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_13:=[[-525.77,-189.3,430.33],[0.339039,-0.618785,-0.623495,-0.336768],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_13:=[[-549.45,44.65,402.71],[0.349263,-0.619037,-0.611195,-0.348208],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_13:=[[-549.48,44.02,387.17],[0.349294,-0.619039,-0.611176,-0.348208],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_13:=[[-590.9,-299.35,548.78],[0.391995,-0.571309,-0.641622,-0.329041],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_13:=[[-536.52,-518.02,748.22],[0.181405,-0.671485,-0.694204,-0.185154],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_13:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_13:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_13:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_13:=[[30.12,-744.71,633.47],[0.342657,-0.624519,-0.611389,-0.344622],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_13:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_13:=[[-263.64,-689.43,241.57],[0.376931,-0.599178,-0.589863,-0.388549],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_13:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_13:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_13:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_13:=[[-730.27,104.81,657.56],[0.436706,-0.553464,-0.551405,-0.446003],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_13:=[[-762.4,163.54,789.07],[0.373864,-0.58485,-0.604796,-0.390381],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_13:=[[-758.21,18.12,848.75],[0.371184,-0.589413,-0.603644,-0.387852],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_13:=[[-673.29,-236.64,587.24],[0.32457,-0.627471,-0.622539,-0.33672],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 14
  !
  CONST robtarget apr1_a3_14:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_14:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_14:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_14:=[[-371.77,-507.75,708.63],[0.160942,-0.682437,-0.693068,-0.167432],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_14:=[[-371.83,-507.79,437.86],[0.160948,-0.682438,-0.693067,-0.167431],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_14:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_14:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_14:=[[1383.41,-242.25,686.51],[0.022209,-0.94082,-0.062382,-0.332376],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_14:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_14:=[[-792.51,-766.91,1026.63],[0.483699,-0.118267,-0.815705,-0.294404],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_14:=[[-792.49,-766.92,1026.66],[0.082378,-0.032782,0.531983,0.842101],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_14:=[[-788,-642.65,808.11],[0.082379,-0.032808,0.531987,0.842097],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_14:=[[-811.79,-658.37,649.32],[0.0823,-0.032925,0.531797,0.84222],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_14:=[[-808.24,-894.51,578.97],[0.082294,-0.032925,0.531803,0.842217],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_14:=[[-808.24,-1286.03,578.72],[0.090018,0.004081,0.848201,0.521953],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_14:=[[-654.48,-35.8,458.42],[0.368095,-0.60826,-0.592242,-0.379176],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_14:=[[-626.71,74,417.86],[0.367314,-0.598335,-0.601198,-0.381623],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_14:=[[-626.7,69.07,484.04],[0.367309,-0.598334,-0.601202,-0.381625],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_14:=[[-599.08,-364.77,616.49],[0.426547,-0.561089,-0.56848,-0.424343],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_14:=[[954.18,1297.65,851.87],[0.107515,-0.873148,-0.230082,-0.416072],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_14:=[[1450.55,219.14,943.37],[0.073046,-0.792897,-0.114984,-0.593934],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_14:=[[-581.39,-122.64,339.67],[0.371547,-0.598974,-0.602043,-0.375137],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_14:=[[-372,-3.77,461.91],[0.390975,-0.581413,-0.586088,-0.406937],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_14:=[[-372,2.85,434.03],[0.39098,-0.581418,-0.586081,-0.406936],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_14:=[[-408.99,-87.81,445.89],[0.403102,-0.580302,-0.579205,-0.406547],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_14:=[[-361.05,-594.59,864.53],[0.426718,-0.556608,-0.583593,-0.409291],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_14:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_14:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_14:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_14:=[[-657.08,-614.26,518.79],[0.226107,-0.679462,0.671644,0.190003],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_14:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_14:=[[-657.1,-614.27,269.04],[0.066726,-0.705094,0.704985,0.037236],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_14:=[[-657.09,-614.27,757.52],[0.266706,-0.665768,0.656323,0.234223],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_14:=[[-143.03,-472.98,937.76],[0.398835,-0.883501,0.24021,0.051538],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_14:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_14:=[[-551.58,113.46,738.81],[0.443674,-0.541347,-0.550786,-0.454678],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_14:=[[-551.6,113.44,840.87],[0.44338,-0.540987,-0.551141,-0.454963],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_14:=[[-575.94,-140.5,860.57],[0.447725,-0.54601,-0.54545,-0.451553],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_14:=[[-551.59,-289.23,738.81],[0.443672,-0.541345,-0.550791,-0.454676],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! Points de la production 15
  !
  CONST robtarget apr1_a3_15:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_15:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_15:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_15:=[[-793.61,-445.53,481.83],[0.511512,-0.494468,0.488619,0.505082],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_15:=[[-799.38,-459.41,405.27],[0.4939,-0.511363,0.505059,0.489373],[0,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_15:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_15:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_15:=[[1395.6,-597.53,1002.13],[0.012054,-0.875564,0.022834,-0.482413],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_15:=[[1370.16,-1155.92,1018.06],[0.030027,-0.741675,0.449143,-0.49728],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_15:=[[-822.77,-845.06,597.75],[0.000174,-0.452586,0.5066,0.733841],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_15:=[[-1031.49,-709.68,282.37],[0.656139,-0.270041,-0.65179,-0.267825],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_15:=[[-980.86,-589.53,100.35],[0.649572,-0.301544,-0.633913,-0.292032],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_15:=[[-964.18,-625.35,-113.28],[0.662349,-0.269877,-0.646205,-0.266232],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_15:=[[-875.76,-797.92,-36.34],[0.244937,-0.670569,0.239883,0.657875],[-1,-2,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_15:=[[-843.26,-793.95,-96.28],[0.670845,-0.29426,-0.633861,-0.24819],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_15:=[[-813.16,-17.17,502.1],[0.300889,-0.641425,-0.663215,-0.241218],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_15:=[[-802,108.27,384.86],[0.246899,-0.664017,-0.662348,-0.243757],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_15:=[[-817.02,107.68,541.41],[0.281675,-0.648463,-0.64896,-0.281079],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_15:=[[-753.3,-393.76,726.76],[0.302109,-0.640076,-0.642207,-0.294284],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_15:=[[954.16,1297.78,881.21],[0.107589,-0.873108,-0.23014,-0.416106],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_15:=[[1334.48,314.66,839.34],[0.09989,-0.880004,-0.20813,-0.415088],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_15:=[[-598.76,-791.61,715.45],[0.293741,-0.644968,-0.638706,-0.299647],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_15:=[[-526.24,36.47,417.45],[0.273732,-0.652741,-0.648249,-0.280665],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_15:=[[-525.34,50.68,388.02],[0.273726,-0.65276,-0.648261,-0.280599],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_15:=[[-518.13,-54.84,485.95],[0.261617,-0.651104,-0.65785,-0.273594],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_15:=[[-519.57,-528.18,720.98],[0.23941,-0.673646,-0.637619,-0.286925],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_15:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_15:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_15:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_15:=[[-434.64,-742.89,454.16],[0.209128,-0.678599,-0.671394,-0.212127],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_15:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_15:=[[-259.85,-736.93,300],[0.113537,-0.691192,-0.704203,-0.116022],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_15:=[[-350.15,-206.76,490.73],[0.285704,-0.656255,-0.634878,-0.290918],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_15:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_15:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_15:=[[-831.48,116.88,689.39],[0.447508,-0.536156,-0.553713,-0.453515],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_15:=[[-790.23,164.18,784.39],[0.426102,-0.55797,-0.569551,-0.427456],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_15:=[[-787.88,-190.73,886.91],[0.426579,-0.556735,-0.569656,-0.428449],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_15:=[[-756.1,-359.24,653.31],[0.340334,-0.621175,-0.622747,-0.332417],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 16
  !
  CONST robtarget apr1_a3_16:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_16:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_16:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_16:=[[-638.9,-578.01,438.19],[0.149306,-0.687933,-0.694659,-0.148005],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_16:=[[-638.88,-578.02,217.45],[0.149308,-0.687951,-0.694642,-0.147997],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_16:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_16:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_16:=[[1383.41,-242.25,686.51],[0.022209,-0.94082,-0.062382,-0.332376],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_16:=[[1468.76,-753.26,847.67],[0.085337,0.902169,-0.243166,0.345946],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_16:=[[-657.85,-1916.32,-14.47],[0.161773,0.162532,-0.971988,-0.051495],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_16:=[[-767.62,-1407.86,164.41],[0.163766,0.13723,-0.971845,-0.099333],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_16:=[[-903.23,-749.2,170.7],[0.158689,-0.3661,-0.913594,-0.07833],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_16:=[[-905.89,-746.46,58.68],[0.151463,-0.369148,-0.911847,-0.096557],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_16:=[[-900.45,-760.3,121.07],[0.159062,-0.365942,-0.913591,-0.078345],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_16:=[[-900.46,-760.32,206.07],[0.159066,-0.36594,-0.913592,-0.078336],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_16:=[[-817.55,8.29,323.9],[0.375007,-0.594221,-0.604367,-0.375515],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_16:=[[-818.26,93.73,282.43],[0.414921,-0.567535,-0.577701,-0.414736],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_16:=[[-818.28,94.72,368.64],[0.414926,-0.567531,-0.577699,-0.414739],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_16:=[[-777.27,-220.53,404.2],[0.426671,-0.560917,-0.568513,-0.424402],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_16:=[[954.18,1297.65,851.87],[0.107515,-0.873148,-0.230082,-0.416072],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_16:=[[1077.61,1016.45,848.45],[0.121013,-0.839802,-0.205346,-0.487772],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_16:=[[-581.39,-122.64,339.67],[0.371547,-0.598974,-0.602043,-0.375137],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_16:=[[-581.38,-47.67,244.7],[0.429237,-0.559001,-0.562332,-0.4325],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_16:=[[-581.53,-66.01,234.3],[0.429235,-0.559009,-0.56233,-0.432494],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_16:=[[-587.05,-130.74,244.45],[0.41774,-0.562304,-0.558672,-0.444065],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_16:=[[-822.91,-572.92,659.87],[0.420367,-0.561418,-0.587758,-0.40329],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_16:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_16:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_16:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_16:=[[-320.23,-504.03,189.55],[0.251809,-0.667288,-0.652665,-0.255632],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_16:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_16:=[[-353.61,-619.1,79],[0.089529,-0.699607,-0.704075,-0.082544],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_16:=[[-320.21,-504.11,372.66],[0.251757,-0.667346,-0.652651,-0.255567],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_16:=[[-320.19,-504.22,388.89],[0.251663,-0.667413,-0.652654,-0.255478],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_16:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_16:=[[-776.13,143.9,582.93],[0.337115,-0.618685,-0.627737,-0.330952],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_16:=[[-821.46,138.85,699.86],[0.337215,-0.618512,-0.628014,-0.330649],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_16:=[[-805.64,56.17,746.37],[0.337349,-0.618268,-0.628143,-0.330721],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_16:=[[-825.43,-493.26,735.59],[0.267079,-0.673058,-0.596815,-0.345651],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !
  !
  !Points de la production 17
  !
  CONST robtarget apr1_a3_17:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_17:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_17:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_17:=[[-345.29,-479.29,512.26],[0.191776,-0.66984,-0.685489,-0.211285],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_17:=[[-377.23,-477.08,366.08],[0.19091,-0.675255,-0.687193,-0.188017],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_17:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_17:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_17:=[[1503.46,-644.96,1030.44],[0.000701,0.964413,-0.0718,0.254465],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_17:=[[1314.93,-1323.45,1030.4],[0.00071,0.964419,-0.071792,0.254443],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_17:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_17:=[[-643.77,-805.32,266.4],[0.137067,-0.353198,-0.875414,-0.300191],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_17:=[[-897.39,-525.54,61.22],[0.136961,-0.353249,-0.875422,-0.300155],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_17:=[[-897.49,-557.14,-58.01],[0.138005,-0.34544,-0.869423,-0.325162],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_17:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_17:=[[-890.02,-699.86,168.87],[0.16576,-0.362664,-0.87435,-0.276607],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_17:=[[-914.04,-147.02,454.31],[0.355578,-0.613167,-0.610179,-0.353939],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_17:=[[-923.98,78.01,341.09],[0.340926,-0.621597,-0.618863,-0.338225],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_17:=[[-934.17,82.61,441.42],[0.340918,-0.621594,-0.618865,-0.338232],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_17:=[[-642.87,-399.34,581.38],[0.363859,-0.605959,-0.613954,-0.351398],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_17:=[[495.8,2026.01,983.95],[0.164551,-0.822158,-0.284984,-0.464503],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_17:=[[1007.83,980.38,924.76],[0.134271,-0.826852,-0.23612,-0.492479],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_17:=[[-614.15,-190.72,407.67],[0.337212,-0.615399,-0.626835,-0.3386],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_17:=[[-647.81,28.92,382.14],[0.352629,-0.612942,-0.611588,-0.354845],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_17:=[[-646.91,27.45,373.08],[0.352949,-0.610925,-0.612281,-0.356804],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_17:=[[-440.49,-219.75,506.76],[0.352344,-0.606803,-0.617424,-0.355573],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_17:=[[-567.72,-731.29,853.92],[0.338893,-0.618768,-0.623585,-0.33678],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_17:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_17:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_17:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_17:=[[30.12,-744.71,633.47],[0.342657,-0.624519,-0.611389,-0.344622],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_17:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_17:=[[-276.86,-656.75,260.64],[0.145871,-0.690427,-0.68752,-0.171312],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_17:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_17:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_17:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_17:=[[-732.52,141.36,550.22],[0.324502,-0.627534,-0.6225,-0.33674],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_17:=[[-730,128.79,750.84],[0.359689,-0.605852,-0.607482,-0.366785],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_17:=[[-765.7,-189.08,921.12],[0.359685,-0.605857,-0.607482,-0.366783],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_17:=[[-642.73,-399.16,581.37],[0.329847,-0.628826,-0.623735,-0.326701],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !
  !
  !
  !Points de la production 18
  !
  CONST robtarget apr1_a3_18:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_18:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_18:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_18:=[[-848.83,-500.97,451.32],[0.505872,-0.476908,-0.48335,-0.532002],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_18:=[[-822.38,-487.3,351.58],[0.517262,-0.478624,-0.488931,-0.514107],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_18:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_18:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_18:=[[1503.46,-644.95,1030.44],[0.031545,0.757546,-0.064426,0.648829],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_18:=[[1329.68,-1435.05,1180.79],[0.406238,0.225296,0.851889,-0.241864],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_18:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_18:=[[-1024.42,-782.41,686.48],[0.189512,-0.651535,0.472284,0.562615],[-1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_18:=[[-979.79,-540.42,291.78],[0.254442,-0.666096,0.348146,0.60858],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_18:=[[-970.99,-597.12,12.88],[0.260707,-0.679738,0.337767,0.596575],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_18:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_18:=[[-770.56,-668.37,32.94],[0.261027,-0.666072,0.342492,0.609025],[-1,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_18:=[[-856.81,-78.97,373.72],[0.360343,-0.595249,-0.62458,-0.354586],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_18:=[[-814.39,77.68,330.98],[0.353222,-0.614587,-0.611935,-0.350789],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_18:=[[-811.77,86.02,425.6],[0.327186,-0.620662,-0.638521,-0.316257],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_18:=[[-738.73,-366.77,582.1],[0.329894,-0.628723,-0.623762,-0.326799],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_18:=[[414.38,1985.58,992.48],[0.209528,-0.755977,-0.233879,-0.574368],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_18:=[[1007.85,980.37,846.98],[0.255668,-0.773686,-0.389562,-0.429286],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_18:=[[-489.34,-228.16,392.3],[0.339033,-0.61879,-0.623493,-0.336767],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_18:=[[-524.38,22.65,365.44],[0.317471,-0.636243,-0.615098,-0.340678],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_18:=[[-524.37,22.66,345.44],[0.317478,-0.636249,-0.61509,-0.340676],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_18:=[[-590.9,-299.35,483.35],[0.391993,-0.571303,-0.641628,-0.329041],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_18:=[[-477.66,-685.2,852.76],[0.33902,-0.618781,-0.623505,-0.336776],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_18:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_18:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_18:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_18:=[[30.12,-744.71,633.47],[0.342657,-0.624519,-0.611389,-0.344622],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_18:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_18:=[[-292.28,-691.82,274.67],[0.131887,-0.691489,-0.695089,-0.145947],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_18:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_18:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_18:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_18:=[[-668.48,105.82,550.08],[0.324502,-0.627533,-0.6225,-0.33674],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_18:=[[-792.23,159.66,751.12],[0.48034,-0.498104,-0.519042,-0.501759],[0,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_18:=[[-768.84,-80.47,826.82],[0.324586,-0.627483,-0.622517,-0.336721],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_18:=[[-770.39,-340.61,646.28],[0.32458,-0.627471,-0.622532,-0.336722],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !!Points de la production 19
  !
  CONST robtarget apr1_a3_19:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_19:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_19:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_19:=[[-557.77,-485.03,452.3],[0.542496,-0.449437,-0.451378,-0.547688],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_19:=[[-558.47,-485.86,377.3],[0.542488,-0.449441,-0.45138,-0.547691],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_19:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_19:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_19:=[[1503.46,-644.95,1030.44],[0.031545,0.757546,-0.064426,0.648829],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_19:=[[1349.7,-1204.49,1025.8],[0.402564,-0.125924,0.857878,-0.29348],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_19:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a1_19:=[[-822.17,-1047.4,789.06],[0.054129,0.351785,-0.615165,-0.703484],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_19:=[[-983.79,-471.42,723.84],[0.020319,0.373906,-0.609653,-0.698645],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_19:=[[-966.74,-464.46,463.36],[0.043043,0.355241,-0.608426,-0.708356],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_19:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_19:=[[-858.93,-652.33,517.72],[0.018491,0.374808,-0.601874,-0.704929],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_19:=[[-729.87,-65.34,406.17],[0.338652,-0.618181,-0.621796,-0.341375],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_19:=[[-740.85,54.32,350.5],[0.341186,-0.622641,-0.612227,-0.347978],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p1_19:=[[-747.09,42.8,437.28],[0.351585,-0.617107,-0.605212,-0.359563],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_19:=[[-738.73,-366.77,582.1],[0.329894,-0.628723,-0.623762,-0.326799],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_19:=[[414.38,1985.58,992.48],[0.209528,-0.755977,-0.233879,-0.574368],[1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_19:=[[1007.85,980.37,846.98],[0.255668,-0.773686,-0.389562,-0.429286],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_19:=[[-466.71,-197.2,463.89],[0.339517,-0.617817,-0.624043,-0.337047],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_19:=[[-464.74,3.3,386.47],[0.341613,-0.61515,-0.625202,-0.337658],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_19:=[[-464.19,6.07,363.99],[0.337019,-0.62664,-0.612064,-0.345136],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_19:=[[-508.81,-106.27,419.97],[0.356976,-0.593005,-0.637754,-0.337911],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_19:=[[-700.71,-628.91,854.22],[0.339029,-0.618794,-0.623492,-0.336766],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_19:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_19:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_19:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_19:=[[-368.36,-1024.02,559.63],[0.337373,-0.621077,-0.61604,-0.347761],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_19:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_19:=[[-350.2,-557.04,201.85],[0.331115,-0.618294,-0.621943,-0.348226],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_19:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_19:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_19:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_19:=[[-833.66,82.79,654.76],[0.331448,-0.608627,-0.642167,-0.327624],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_19:=[[-837.53,68.19,801.56],[0.32823,-0.622141,-0.627845,-0.333191],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_19:=[[-838.26,-178.81,969.59],[0.328231,-0.622138,-0.627848,-0.333189],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_19:=[[-833.66,-390.57,542.46],[0.331445,-0.608622,-0.642175,-0.32762],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  !Points de la production 20
  !
  CONST robtarget apr1_a3_20:=[[-488.79,-170.18,998.97],[0.058232,-0.70794,-0.701714,-0.05504],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a3_20:=[[-488.75,128.65,754.43],[0.058249,-0.707945,-0.701707,-0.055039],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a3_20:=[[-490.67,150.95,720.37],[0.308782,-0.637508,-0.634698,-0.308863],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_p1_a1_20:=[[-519.07,-475.54,478.28],[0.188116,-0.670942,-0.685486,-0.211088],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a1_p1_20:=[[-534.75,-478.17,357.13],[0.218983,-0.671795,-0.672448,-0.220348],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a1_p1_20:=[[-588.4,-503.24,361.73],[0.068299,-0.703409,-0.703495,-0.075139],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p1_20:=[[-584.42,-500.75,495.05],[0.075969,-0.702516,-0.702722,-0.082962],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p1_20:=[[1503.46,-644.96,1030.44],[0.000701,0.964413,-0.0718,0.254465],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg4_a1_20:=[[1027.86,-1597.15,1288.22],[0.244169,0.892417,-0.358655,0.123856],[-1,-1,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg3_a1_20:=[[-563.67,-1821.05,543.36],[0.266566,-0.033655,-0.952601,-0.142691],[-1,-1,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a1_20:=[[-958.86,-591.98,-53.26],[0.139543,-0.346226,-0.877306,-0.301645],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a1_20:=[[-1013.67,-636.43,-104.8],[0.181996,-0.350831,-0.861505,-0.318755],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a1_20:=[[-876,-731.44,-53.22],[0.233584,-0.64871,0.25354,0.678477],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a1_20:=[[-994.76,-778.67,48.73],[0.182,-0.350834,-0.861503,-0.318754],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p1_20:=[[-899.81,-94.68,433.95],[0.326651,-0.618641,-0.638881,-0.32002],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dp_a5_p1_20:=[[-904,78,325.09],[0.343977,-0.61917,-0.620625,-0.336353],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p1_20:=[[-642.76,-399.17,581.51],[0.329896,-0.628726,-0.623758,-0.3268],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int2_a4_p2_20:=[[495.8,2026.01,983.95],[0.164551,-0.822158,-0.284984,-0.464503],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget int_a4_p2_20:=[[1007.85,980.37,846.98],[0.255668,-0.773686,-0.389562,-0.429286],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a4_p2_20:=[[-610.72,-210.37,410.46],[0.336995,-0.615196,-0.626931,-0.339007],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a4_p2_20:=[[-639.78,24.38,378.76],[0.338933,-0.619154,-0.619285,-0.343889],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a4_p2_20:=[[-633.29,24.58,366.31],[0.337577,-0.617432,-0.620986,-0.345248],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a4_p2_20:=[[-638.66,-99.23,411.83],[0.336252,-0.610821,-0.62614,-0.348972],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a4_p2_20:=[[-700.71,-628.91,854.22],[0.339029,-0.618794,-0.623492,-0.336766],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_p2_20:=[[117.81,1960.56,1157.96],[0.317784,-0.664426,-0.53295,-0.416552],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a5_20:=[[117.74,1960.6,1158.05],[0.317834,-0.66434,-0.532995,-0.416593],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg2_a7_20:=[[-414.69,-815.87,469.1],[0.213013,-0.672789,-0.676286,-0.211228],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg1_a7_20:=[[30.12,-744.71,633.47],[0.342657,-0.624519,-0.611389,-0.344622],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget p_inter_home_20:=[[623.51,-1549.93,340.25],[0.0697,-0.881644,-0.456195,-0.098653],[0,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget dep_a7_20:=[[-263.42,-573.56,197.69],[0.336492,-0.61359,-0.622358,-0.350644],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr2_a7_20:=[[-223.21,-573.22,593.07],[0.343298,-0.6478,-0.592911,-0.333103],[1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr1_a7_20:=[[-364.15,-529.48,689.7],[0.244429,-0.672405,-0.651007,-0.253607],[1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a7_20:=[[-362.72,-984.36,271.78],[0.168929,-0.676979,-0.705087,-0.126548],[1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget deg_a5_p2_20:=[[-774.81,141.98,549.71],[0.324497,-0.627537,-0.622498,-0.336743],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget pp_a5_p2_20:=[[-781.75,125.28,738.81],[0.325819,-0.616201,-0.635183,-0.332687],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget apr_a5_p2_20:=[[-795.51,-28.66,876.52],[0.325693,-0.616396,-0.63514,-0.332531],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget att_a5_p2_20:=[[-725.4,-669.09,587.72],[0.324577,-0.627486,-0.622526,-0.336709],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  !
  ! 
  VAR pos pos2:=[0,0,0];
  VAR pos pos1:=[0,0,0];
  VAR shapedata Home_Area;
  PERS wobjdata A6:=[FALSE,TRUE,"",[[-499.964,1899.81,397.987],[0.963333,0.000129,-0.000129,0.26831]],[[0,0,0],[1,0,0,0]]];
  PERS wobjdata A7:=[FALSE,TRUE,"",[[-975.879,2226.49,780.693],[0.966552,7.3E-05,-7.3E-05,0.256469]],[[0,0,0],[1,0,0,0]]];
  PERS wobjdata A5:=[FALSE,TRUE,"",[[1172.51,1743.02,367.651],[0.861722,0.004707,-0.009889,-0.507262]],[[0,0,0],[1,0,0,0]]];
  PERS wobjdata A4:=[FALSE,TRUE,"",[[2281.28,-542.534,48.8317],[0.788884,0.001423,-0.007031,-0.6145]],[[0,0,0],[1,0,0,0]]];
  PERS wobjdata A3:=[FALSE,TRUE,"",[[-1462.59,-921.397,105.551],[0.509564,6.9E-05,-6.9E-05,0.860433]],[[0,0,0],[1,0,0,0]]];
  PERS wobjdata A1:=[FALSE,TRUE,"",[[643.357,-2449.09,671.167],[0.074579,6.4E-05,-6.4E-05,0.997215]],[[0,0,0],[1,0,0,0]]];
  PERS tooldata GRIPPER_1:=[TRUE,[[-2.88716,-34.4194,448.129],[1,0,0,0]],[25,[7.5,-7,175],[1,0,0,0],2.92,2.74,1.88]];
  CONST robtarget ptp_home:=[[1043.3,-686.6,1376.63],[0.02956,0.942429,-0.317909,0.099439],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA1_proc9:=[[-684.59,-632.51,-53.39],[0.697728,-0.106985,-0.691489,-0.153538],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA3_proc9:=[[-672.74,106.13,-70.94],[0.066258,-0.677788,-0.727392,-0.084349],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptdA4p1_proc9:=[[-877.37,-484.84,425.48],[0.409147,-0.550389,0.606276,0.402617],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA4p2_proc9:=[[-593.71,43.99,376.77],[0.362605,-0.572562,-0.637294,-0.366807],[-1,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptApA4p2_proc9:=[[-480.23,-447.48,873.17],[0.360496,-0.592364,-0.617308,-0.371589],[-1,-2,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA5p2_proc9:=[[-749.23,106.69,824.79],[0.37409,-0.578323,-0.644071,-0.332822],[0,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA1_proc11:=[[-563.74,-543.6,273.91],[0.196066,-0.367127,-0.398891,-0.817106],[-1,-2,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA3_proc11:=[[-674.67,109.59,-46.57],[0.077102,-0.706795,-0.699391,-0.07314],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptdA4p1_proc11:=[[-762.38,-495.1,418.84],[0.322875,-0.624374,-0.629193,-0.331699],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA4p2_proc11:=[[-523.38,57.57,382.66],[0.409916,-0.577037,-0.571549,-0.415126],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptApA4p2_proc11:=[[-529.05,-293.24,585.62],[0.407295,-0.572585,-0.575522,-0.418368],[-1,1,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptpA5p2_proc11:=[[-789.84,131.73,853.96],[0.408738,-0.573036,-0.584344,-0.403862],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
  CONST robtarget ptApA5_proc11:=[[-755.43,-560.55,471.21],[0.33638,-0.618247,-0.629021,-0.330079],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

  !
  !
  !
  PROC close_2()
    Reset OPEN_GRIP;
    SetDO CLOSE_GRIP,1;
    WaitTime 0.4;
    SetDO CLOSE_GRIP,0;
  ENDPROC

  PROC traj_zero()
    MoveAbsJ [[0,0,0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs,v1000,z50,GRIPPER_1;
  ENDPROC

  
ENDMODULE