 Program
   Variables Setup
   BeforeStart
     Change uniVision job
     'Set safety offset for calculating a pose above the object pose'
     safety_offset_z≔p[0,0,-0.1,0,0,0]
   Robot Program
     'Placeholder - Move to detection pose that does not cover the objects with the robot'
     Detect Objects
       Get object pose from list
         If get_inverse_kin_has_solution(we_object_pose) == False
           'Placeholder - Error handling'
         Else
           'Movement and gripping here'
           Pick object
             'Create pose above the object'
             above_object≔pose_trans(we_object_pose, safety_offset_z)
             MoveJ
               above_object
             'Move to object with reduced speed'
             MoveL
               we_object_pose
             'Placeholder - Grip object'
           Place object
             'Retreat with regular speed'
             MoveL
               above_object
             'Placeholder - Move to place pose'
             'Placeholder - Drop object'
