{
   # ----  START POSE  ----
    if ($pose_name eq ''){
	print "ERROR: \"start\" POSE - NOT FOUND"
    }

    for ($i=0; $i<$armload_cnt; $i++){
	if ($armload_mass[$i] == 0){
	print "ERROR: ARMLOAD $armload_num[$i] - MASS VALUE IS ZERO"
	}
    }
}