nose RGB 500 255 0 0 1 nose RGB 500 0 255 0 1 nose RGB 500 0 0 255 1 spin_left JOG 5000 -20.0 20.0 spin_right JOG 5000 20.0 -20.0 circle_left JOG 4000 15.0 20.0 circle_right JOG 4000 20.0 15.0 backward JOG 2000 -30.0 -30.0