function m = RobotMovie(tq,loop)

sfrobota(0,0,0,0,0);

n=size(tq,2);

if nargin<2
  loop=1;
end
 
if loop>1
  pau=1;  
else
  loop=1;  
  pau=0;  
end

while(loop>0)
  loop=loop-1;

  if pau
    sfrobota(tq(1,1),0,tq(1,2:n),2,0);
%    disp('The simulation is paused, press <return> to continue')
    pau=0;      
%    pause
  end

  tic
  t0=clock;
  lastt=tq(1,1);  

  ii =[find(tq(1:size(tq,1)-1,1) ~= tq(2:size(tq,1),1))']; 
   pos=get(1,'position'); 
  set(gcf,'units','pixels','position',[pos(1:2),400,304])
% Max width = 400px, Maxheight = 304
  mov=zeros(length(getframe(gcf)),length(ii));
  j=1;
  for i=ii

    if (tq(i,1)<lastt)
      t0=clock;
      t0(6)=t0(6)+1;
    end;
    lastt=tq(i,1); 

    while etime(clock,t0)<1*tq(i,1)    % const here defines the playback speed
    end;
    
    sfrobota(tq(i,1),0,tq(i,2:n),2,0);
    mov(:,j)=getframe(gcf);
    j=j+1;    
  end
  toc  
end

sfrobota(0,0,0,9,0);

slow=0;    % could be 0 for speed or 1 for high quality
mpgwrite(mov,colormap,'parkingmovie',[1,1,1,slow,10,4,5,12]);