<bml id="bml1" xmlns:bmlt="http://hmi.ewi.utwente.nl/bmlt">
	<bmlt:transition id="trans1" class="SlerpTransition" start="1" end="ref1:start">
		<bmlt:parameter name="joints" value="r_shoulder,r_elbow,r_wrist,l_shoulder,l_elbow,l_wrist"/>
	</bmlt:transition> 
	<bmlt:procanimation id="ref1" name="refuse" start="2"/>
	
	<bmlt:controller id="balance1" class="BalanceController"/>	
	<bmlt:controller id="shoulder1" class="BallJointController">
		<bmlt:parameter name="joint" value="l_shoulder"/>
	</bmlt:controller>
	<bmlt:controller id="elbow1" class="HingeJointController">
		<bmlt:parameter name="joint" value="l_elbow"/>
	</bmlt:controller>
</bml>
