print "Pos=" + str(robot.get_cartesian_pos())
for p in robot.get_known_points():
    print p + " = " + str(get_pnt(p))

print "-------------"

for segment in known_segments:
    is_on_segment(segment)

print "-------------"
for segment in known_segments:
    try:
        move_to_segment(segment)
    except:
        print sys.exc_info()[1]