# Singularity Example DR
### HMI Panel File
{% file src="" %}
### Script File
```python
from DRCF import *
label_status = "OUTSIDE SINGULAR REGION"
checkbox_status = [True, False, False]
checkbox_auto_avoid = True
checkbox_var_vel = False
checkbox_path_first = False
def update_hmi():
global checkbox_status, checkbox_var_vel, checkbox_path_first, checkbox_auto_avoid, label_status
# update checkbox
if checkbox_auto_avoid and not checkbox_status[0]:
checkbox_var_vel = False
checkbox_path_first = False
set_singularity_handling(DR_AVOID)
checkbox_status = [checkbox_auto_avoid, checkbox_var_vel, checkbox_path_first]
elif checkbox_var_vel and not checkbox_status[1]:
checkbox_auto_avoid = False
checkbox_path_first = False
set_singularity_handling(DR_VAR_VEL)
checkbox_status = [checkbox_auto_avoid, checkbox_var_vel, checkbox_path_first]
elif checkbox_path_first and not checkbox_status[2]:
checkbox_auto_avoid = False
checkbox_var_vel = False
set_singularity_handling(DR_TASK_STOP)
checkbox_status = [checkbox_auto_avoid, checkbox_var_vel, checkbox_path_first]
elif not checkbox_auto_avoid and not checkbox_var_vel and not checkbox_path_first:
checkbox_auto_avoid = True
checkbox_var_vel = False
checkbox_path_first = False
set_singularity_handling(DR_AVOID)
checkbox_status = [checkbox_auto_avoid, checkbox_var_vel, checkbox_path_first]
# update label
j5 = abs(get_current_posj()[4])
if j5 > 15:
label_status = "OUTSIDE SINGULAR REGION"
elif j5 > 10:
label_status = "NEAR SINGULAR REGION"
else:
label_status = "INSIDE SINGULAR REGION"
thread_run(update_hmi, loop=True)
movej(posj(0.0, 36.8, 123.6, -0.0, -70.4, 0.0))
def test():
movej(posj(0.0, 36.8, 123.6, -0.0, -70.4, 0.0))
movel(posx(680.0, 34.5, 1142.5, -0.0, 90.0, -0.0))
movel(posx(679.9, 34.5, 122.3, -0.0, 90.0, -0.0))
```
{% file src="" %}