StartSimulationEngine  "SimState/basicenv3.xml"

AddiRobotCreate    icreate1  	/Position:0.5  0  0

AddiRobotCreate    icreate2  	/Position:-0.5  0  0

FlushScript  

icreate1.Go(0.1, 0.4)
icreate2.Go(0.1, 0.4)
wait 3000

icreate1.Go(0.4, 0.1)
icreate2.Go(0.4, 0.1)
wait 6000

call d1 with concur
icreate2.GoTo(0.5, 0.3)

call d2 with concur
icreate2.GoTo(-0.5, 0.3)

call d3 with concur
icreate2.Turn(-90, 0.2)

call d1 with concur
icreate2.GoTo(0.5, 0.3)

call d4 with concur
icreate2.Turn(45, 0.2)

call d3 with concur
icreate2.Turn(-90, 0.2)

call d4 with concur
icreate2.Turn(45, 0.2)

Procedure d1
	icreate1.GoTo(0.5, 0.3)
End 

Procedure d2
	icreate1.GoTo(-0.5, 0.3)
End 

Procedure d3
	icreate1.Turn(-90, 0.2)
End 

Procedure d4
	icreate1.Turn(45, 0.2)
End