public boolean action(Event evt, Object arg)
    {int hit;

        if (arg.equals("FIXSTART"))
        {
            pullConfig(cfg[0]);
        }
        else
        if (arg.equals("SAVE"))
        {
            pullConfig(cfg[1]);
            writeConfig(filename.getText());
        }

        else if (arg.equals("CLOSE"))
        {
            closeSelf();
        }
        else if (arg.equals("LOAD DATA from:")) {
            String fname=dgfile.getText();
            System.out.println("Loading "+fname);
            loadKin(fname);
        }
        else if (arg.equals("LINDRIVE"))
        {
            doLinearDrive();
        }
        else if (arg.equals("REACH"))
        {
            HV.self.toggleReach("reaching");
        }
        else if (arg.equals("VISREACH"))
        {
            HV.self.toggleReach("visual");
        }
        else if (arg.equals("CLEARTRAJ"))
        {
            obj.clearTrajectory();
        }



        else return super.action(evt,arg);
        return true;
    }