log de interrupcao do assembler com cleaner, com colocacao de peca na mesa. Agent Comunication Log Archive Started at host nausika at Sun Apr 12 04:39:27 1998 [ AGENT NAME ][TIME] and Message [motherAgent ][04:39:27] LOG: Initializing Agent motherAgent started at nausika. [motherAgent ][04:39:28] (addAgent (assembler) (assembler motherAgent )) [assembler ][04:39:28] LOG: Agent assembler started at enya. [assembler ][04:39:28] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (assembler) (assembler motherAgent )). [motherAgent ][04:39:28] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [assembler ][04:39:28] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [assembler-blackboard][04:39:29] LOG: Blackboard Module assembler-blackboard started at enya. [assembler-blackboard][04:39:29] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (free)). [motherAgent ][04:39:29] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [assembler-execution ][04:39:29] LOG: Execution Module assembler-execution started at enya. [motherAgent ][04:39:29] (addAgent (cleaner) (assembler cleaner motherAgent )) [assembler ][04:39:29] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (cleaner) (assembler cleaner motherAgent )). [motherAgent ][04:39:29] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [cleaner ][04:39:29] LOG: Agent cleaner started at nikita. [cleaner ][04:39:29] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (cleaner) (assembler cleaner motherAgent )). [motherAgent ][04:39:29] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [cleaner ][04:39:30] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [cleaner-execution ][04:39:30] LOG: Execution Module cleaner-execution started at nikita. [cleaner-blackboard ][04:39:30] LOG: Blackboard Module cleaner-blackboard started at nikita. [cleaner-blackboard ][04:39:30] LOG: MSG Received: Sender: cleaner, Message: (updateResource (manipulator) (free)). [motherAgent ][04:39:30] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [motherAgent ][04:39:30] (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )) [assembler ][04:39:30] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [cleaner ][04:39:30] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [motherAgent ][04:39:30] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [motherAgent ][04:39:30] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [collisionAvoider ][04:39:31] LOG: Agent collisionAvoider started at nausika. [collisionAvoider ][04:39:32] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [motherAgent ][04:39:32] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [collisionAvoider ][04:39:32] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [collisionAvoider-exe][04:39:32] LOG: Execution Module collisionAvoider-execution started at nausika. [collisionAvoider-bla][04:39:32] LOG: Blackboard Module collisionAvoider-blackboard started at nausika. [collisionAvoider-bla][04:39:32] LOG: MSG Received: Sender: collisionAvoider, Message: (updateResource (manipulator) (free)). [motherAgent ][04:39:32] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [motherAgent ][04:39:32] (freeAll) [collisionAvoider ][04:39:32] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [assembler ][04:39:32] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [cleaner ][04:39:32] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [capture-primitive ][04:39:33] LOG: Image capture primitive agent initialized [assembler-execution ][04:39:34] LOG: (scan-for-free-parts parts) started [cleaner-execution ][04:39:35] LOG: (scan-for-static-object trash) started [assembler-execution ][04:39:36] LOG: Tenons in image: (objects) [assembler-execution ][04:39:36] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:37] LOG: (detect-moving-object object) started [assembler-execution ][04:39:37] LOG: Tenons in image: (objects) [assembler-execution ][04:39:37] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:40] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:40] LOG: Tenons in image: (objects) [assembler-execution ][04:39:40] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:41] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:42] LOG: Tenons in image: (objects) [collisionAvoider-exe][04:39:42] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:42] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:43] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:45] LOG: Tenons in image: (objects) [collisionAvoider-exe][04:39:45] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:45] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:45] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:39:47] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:48] LOG: Tenons in image: (objects) [assembler-execution ][04:39:48] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:49] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:51] LOG: Tenons in image: (objects) [collisionAvoider-exe][04:39:51] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:51] LOG: Mortises in image: (objects) [collisionAvoider-exe][04:39:52] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:39:54] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:54] LOG: Tenons in image: (objects ((1) (99) (13) (84) (false)) ((2) (32) (2) (231) (false))) [assembler-execution ][04:39:54] LOG: Mortises in image: (objects ((1) (166) (38) (88) (false))) [collisionAvoider-exe][04:39:56] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:39:58] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:39:58] LOG: Tenons in image: (objects ((1) (73) (85) (145) (true))) [assembler-execution ][04:39:58] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (74) (38) (88) (true))) [assembler-execution ][04:39:58] LOG: Found at least one piece and one tenon [assembler-execution ][04:39:58] LOG: Tenon is circular [assembler-execution ][04:39:58] LOG: Tenon is inside the reachable area [assembler-execution ][04:39:58] LOG: (scan-for-free-parts parts) finished [assembler-execution ][04:39:58] LOG: (select-pair tenon mortise) started [assembler-execution ][04:39:58] LOG: Found a matching mortise [assembler-execution ][04:39:58] LOG: Matching mortise is free [assembler-execution ][04:39:58] LOG: Mortise is inside the reachable area [assembler-execution ][04:39:58] LOG: (select-pair tenon mortise) finished [assembler-execution ][04:39:58] LOG: Resource Manipulator Needed [assembler-execution ][04:39:58] LOG: I'll request it. [assembler ][04:39:58] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [motherAgent ][04:39:58] LOG: MSG Received: Sender: assembler, Message: (request (assembler) (manipulator)). [motherAgent ][04:39:58] (transfer (assembler) (manipulator) (free)) [collisionAvoider ][04:39:58] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [assembler ][04:39:58] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [cleaner ][04:39:58] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [assembler-blackboard][04:39:58] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (free)). [assembler-execution ][04:39:58] LOG: Resource Manipulator Received [assembler-blackboard][04:39:58] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [collisionAvoider-exe][04:39:58] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:40:00] LOG: (pickup-object (tenon) at (85, 145)) started [assembler ][04:40:00] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][04:40:00] LOG: (acknowledge) [manipulator-primitiv][04:40:00] LOG: Manipulator Received: (pickup-object (tenon) at (85, 145)). [collisionAvoider-exe][04:40:00] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:02] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:04] LOG: AreaInImage1 = 68; AreaInImage2 = 0; Difference = 68; Threshold = 30. [collisionAvoider-exe][04:40:06] LOG: AreaInImage1 = 74; AreaInImage2 = 68; Difference = 112; Threshold = 30. [collisionAvoider-exe][04:40:06] LOG: Resource Manipulator Needed [collisionAvoider-exe][04:40:06] LOG: (detect-moving-object object) finished [collisionAvoider ][04:40:06] LOG: MSG Received: Sender: collisionAvoider-execution, Message: (request (manipulator)). [assembler ][04:40:06] LOG: MSG Received: Sender: collisionAvoider, Message: (request (collisionAvoider) (manipulator)). [assembler-blackboard][04:40:07] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:07] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-blackboard][04:40:07] LOG: MSG Received: Sender: assembler, Message: (informationRequest (manipulator)). [assembler ][04:40:07] (transfer (collisionAvoider) (manipulator) (object-held tenon at position 85 145)) [cleaner ][04:40:07] LOG: MSG Received: Sender: assembler, Message: (transfer (collisionAvoider) (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:07] LOG: (lost (manipulator)) [motherAgent ][04:40:07] LOG: MSG Received: Sender: assembler, Message: (transfer (collisionAvoider) (manipulator) (object-held tenon at position 85 145)). [collisionAvoider ][04:40:07] LOG: MSG Received: Sender: assembler, Message: (transfer (collisionAvoider) (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:07] LOG: (pickup-object (tenon) at (85, 145)) finished [collisionAvoider-bla][04:40:07] LOG: MSG Received: Sender: collisionAvoider, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:07] LOG: (move-object (tenon) to (38, 88)) started [assembler-execution ][04:40:07] LOG: Resource Manipulator Lost [assembler-execution ][04:40:07] LOG: Resource Manipulator Needed [collisionAvoider-exe][04:40:07] LOG: Resource Manipulator Received [assembler-execution ][04:40:07] LOG: I'll request it. [assembler ][04:40:07] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [collisionAvoider ][04:40:07] LOG: MSG Received: Sender: collisionAvoider-execution, Message: (disableInterruption (manipulator)). [collisionAvoider-exe][04:40:07] LOG: (acknowledge) [collisionAvoider-bla][04:40:07] LOG: MSG Received: Sender: collisionAvoider-execution, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [collisionAvoider-exe][04:40:07] LOG: (freeze manipulator) started [collisionAvoider-exe][04:40:07] LOG: (keep-on-moving object) started [collisionAvoider-exe][04:40:08] LOG: AreaInImage1 = 57; AreaInImage2 = 74; Difference = 131; Threshold = 30. [collisionAvoider-exe][04:40:10] LOG: AreaInImage1 = 66; AreaInImage2 = 57; Difference = 123; Threshold = 30. [collisionAvoider-exe][04:40:12] LOG: AreaInImage1 = 52; AreaInImage2 = 66; Difference = 118; Threshold = 30. [cleaner-execution ][04:40:14] LOG: Found trash inside the reachable area [cleaner-execution ][04:40:14] LOG: (scan-for-static-object trash) finished [cleaner-execution ][04:40:14] LOG: Resource Manipulator Needed [cleaner-execution ][04:40:14] LOG: I'll request it. [cleaner ][04:40:14] LOG: MSG Received: Sender: cleaner-execution, Message: (request (manipulator)). [collisionAvoider-exe][04:40:14] LOG: AreaInImage1 = 51; AreaInImage2 = 52; Difference = 17; Threshold = 30. [collisionAvoider-exe][04:40:16] LOG: (freeze manipulator) finished [collisionAvoider-exe][04:40:16] LOG: (keep-on-moving object) finished [collisionAvoider ][04:40:16] LOG: MSG Received: Sender: collisionAvoider-execution, Message: (enableInterruption (manipulator)). [collisionAvoider-exe][04:40:16] LOG: (acknowledge) [collisionAvoider ][04:40:16] LOG: MSG Received: Sender: collisionAvoider-execution, Message: (free (manipulator)). [collisionAvoider ][04:40:16] (free (manipulator)) [motherAgent ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (free (manipulator)). [assembler ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (free (manipulator)). [cleaner ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (free (manipulator)). [collisionAvoider ][04:40:16] LOG: MSG Received: Sender: assembler, Message: (request (assembler) (manipulator)). [collisionAvoider-bla][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (informationRequest (manipulator)). [collisionAvoider ][04:40:16] (transfer (assembler) (manipulator) (object-held tenon at position 85 145)) [collisionAvoider ][04:40:16] LOG: MSG Received: Sender: cleaner, Message: (request (cleaner) (manipulator)). [cleaner ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [assembler-blackboard][04:40:16] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:16] LOG: MSG Received: Sender: cleaner, Message: (request (cleaner) (manipulator)). [motherAgent ][04:40:16] LOG: MSG Received: Sender: collisionAvoider, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:16] LOG: Resource Manipulator Received [assembler-blackboard][04:40:16] LOG: MSG Received: Sender: assembler, Message: (informationRequest (manipulator)). [cleaner ][04:40:16] LOG: MSG Received: Sender: assembler, Message: (transfer (cleaner) (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:16] (transfer (cleaner) (manipulator) (object-held tenon at position 85 145)) [cleaner-blackboard ][04:40:16] LOG: MSG Received: Sender: cleaner, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [motherAgent ][04:40:16] LOG: MSG Received: Sender: assembler, Message: (transfer (cleaner) (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:16] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:16] LOG: Resource Manipulator Received [assembler-execution ][04:40:16] LOG: (lost (manipulator)) [cleaner-blackboard ][04:40:16] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:16] LOG: (notAcknowledge) [assembler-execution ][04:40:16] LOG: Resource Manipulator Lost [assembler-execution ][04:40:16] LOG: Resource Manipulator Needed [assembler-execution ][04:40:16] LOG: I'll request it. [collisionAvoider ][04:40:16] LOG: MSG Received: Sender: assembler, Message: (transfer (cleaner) (manipulator) (object-held tenon at position 85 145)). [assembler ][04:40:16] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [collisionAvoider-exe][04:40:16] LOG: AreaInImage1 = 55; AreaInImage2 = 51; Difference = 14; Threshold = 30. [cleaner-execution ][04:40:18] LOG: (pickup-object trash position((225) (90))) started [cleaner ][04:40:18] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:18] LOG: (acknowledge) [manipulator-primitiv][04:40:18] LOG: Manipulator Received: (putdown-object (tenon) at (table)). [collisionAvoider-exe][04:40:18] LOG: AreaInImage1 = 0; AreaInImage2 = 55; Difference = 55; Threshold = 30. [collisionAvoider-exe][04:40:18] LOG: AreaInImage1 = 51; AreaInImage2 = 0; Difference = 51; Threshold = 30. [collisionAvoider-exe][04:40:19] LOG: AreaInImage1 = 52; AreaInImage2 = 51; Difference = 13; Threshold = 30. [collisionAvoider-exe][04:40:19] LOG: AreaInImage1 = 49; AreaInImage2 = 52; Difference = 17; Threshold = 30. [collisionAvoider-exe][04:40:20] LOG: AreaInImage1 = 55; AreaInImage2 = 49; Difference = 16; Threshold = 30. [collisionAvoider-exe][04:40:20] LOG: AreaInImage1 = 46; AreaInImage2 = 55; Difference = 17; Threshold = 30. [collisionAvoider-exe][04:40:20] LOG: AreaInImage1 = 58; AreaInImage2 = 46; Difference = 16; Threshold = 30. [collisionAvoider-exe][04:40:21] LOG: AreaInImage1 = 0; AreaInImage2 = 58; Difference = 58; Threshold = 30. [collisionAvoider-exe][04:40:21] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:22] LOG: AreaInImage1 = 39; AreaInImage2 = 0; Difference = 39; Threshold = 30. [collisionAvoider-exe][04:40:22] LOG: AreaInImage1 = 58; AreaInImage2 = 39; Difference = 25; Threshold = 30. [collisionAvoider-exe][04:40:22] LOG: AreaInImage1 = 61; AreaInImage2 = 58; Difference = 3; Threshold = 30. [collisionAvoider-exe][04:40:23] LOG: AreaInImage1 = 61; AreaInImage2 = 61; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:23] LOG: AreaInImage1 = 61; AreaInImage2 = 61; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:24] LOG: AreaInImage1 = 60; AreaInImage2 = 61; Difference = 1; Threshold = 30. [collisionAvoider-exe][04:40:24] LOG: AreaInImage1 = 61; AreaInImage2 = 60; Difference = 1; Threshold = 30. [collisionAvoider-exe][04:40:25] LOG: AreaInImage1 = 61; AreaInImage2 = 61; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:25] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-on-table)). [cleaner ][04:40:25] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:25] LOG: (acknowledge) [cleaner ][04:40:25] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:25] LOG: (acknowledge) [manipulator-primitiv][04:40:25] LOG: Manipulator Received: (pickup-object (trash) at (225, 90)). [collisionAvoider-exe][04:40:25] LOG: AreaInImage1 = 59; AreaInImage2 = 61; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:26] LOG: AreaInImage1 = 61; AreaInImage2 = 59; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:26] LOG: AreaInImage1 = 59; AreaInImage2 = 61; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:26] LOG: AreaInImage1 = 60; AreaInImage2 = 59; Difference = 3; Threshold = 30. [collisionAvoider-exe][04:40:27] LOG: AreaInImage1 = 60; AreaInImage2 = 60; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:27] LOG: AreaInImage1 = 60; AreaInImage2 = 60; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:27] LOG: AreaInImage1 = 60; AreaInImage2 = 60; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:28] LOG: AreaInImage1 = 58; AreaInImage2 = 60; Difference = 2; Threshold = 30. [collisionAvoider-exe][04:40:28] LOG: AreaInImage1 = 61; AreaInImage2 = 58; Difference = 3; Threshold = 30. [collisionAvoider-exe][04:40:29] LOG: AreaInImage1 = 60; AreaInImage2 = 61; Difference = 1; Threshold = 30. [collisionAvoider-exe][04:40:29] LOG: AreaInImage1 = 61; AreaInImage2 = 60; Difference = 1; Threshold = 30. [collisionAvoider-exe][04:40:29] LOG: AreaInImage1 = 56; AreaInImage2 = 61; Difference = 5; Threshold = 30. [collisionAvoider-exe][04:40:30] LOG: AreaInImage1 = 24; AreaInImage2 = 56; Difference = 34; Threshold = 30. [collisionAvoider-exe][04:40:30] LOG: AreaInImage1 = 0; AreaInImage2 = 24; Difference = 24; Threshold = 30. [collisionAvoider-exe][04:40:30] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:31] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:31] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:31] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-held trash)). [cleaner ][04:40:31] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:31] LOG: (acknowledge) [cleaner-execution ][04:40:31] LOG: (pickup-object trash trash-position) finished [cleaner-execution ][04:40:31] LOG: (move-object trash trash-can-position) started [cleaner ][04:40:31] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:31] LOG: (acknowledge) [manipulator-primitiv][04:40:31] LOG: Manipulator Received: (move-object (trash) to (trashcan-position)). [collisionAvoider-exe][04:40:32] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:32] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:33] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:33] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-held trash)). [cleaner ][04:40:33] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:33] LOG: (acknowledge) [cleaner-execution ][04:40:33] LOG: (move-object trash trash-can-position) finished [cleaner-execution ][04:40:33] LOG: (drop-held-object) started [cleaner ][04:40:33] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:33] LOG: (acknowledge) [manipulator-primitiv][04:40:33] LOG: Manipulator Received: (drop-held-object). [collisionAvoider-exe][04:40:33] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:33] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:34] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:34] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:35] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:35] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:35] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:36] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:36] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:37] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:37] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-on-table)). [cleaner ][04:40:37] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:37] LOG: (acknowledge) [cleaner-execution ][04:40:37] LOG: (drop-held-object) finished [cleaner ][04:40:37] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:37] LOG: (acknowledge) [manipulator-primitiv][04:40:37] LOG: Manipulator Received: (pickup-object (tenon) at (table)). [collisionAvoider-exe][04:40:37] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:37] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:38] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:38] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:39] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:39] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:39] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:40] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:40] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:41] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:41] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:42] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-held tenon at position table)). [cleaner ][04:40:42] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:42] LOG: (acknowledge) [cleaner-execution ][04:40:42] LOG: (move-object (tenon) to (85, 145)) [cleaner ][04:40:42] LOG: MSG Received: Sender: cleaner-execution, Message: (disableInterruption (manipulator)). [cleaner-execution ][04:40:42] LOG: (acknowledge) [manipulator-primitiv][04:40:42] LOG: Manipulator Received: (move-object (tenon) to (85, 145)). [collisionAvoider-exe][04:40:42] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:42] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:43] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:43] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:43] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:44] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [cleaner-blackboard ][04:40:44] LOG: MSG Received: Sender: cleaner-execution, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [cleaner ][04:40:44] LOG: MSG Received: Sender: cleaner-execution, Message: (enableInterruption (manipulator)). [cleaner-execution ][04:40:44] LOG: (acknowledge) [cleaner-execution ][04:40:44] LOG: (scan-for-static-object object) started [cleaner ][04:40:44] LOG: MSG Received: Sender: cleaner-execution, Message: (free (manipulator)). [cleaner ][04:40:44] (free (manipulator)) [assembler ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (free (manipulator)). [motherAgent ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (free (manipulator)). [collisionAvoider ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (free (manipulator)). [cleaner ][04:40:44] LOG: MSG Received: Sender: assembler, Message: (request (assembler) (manipulator)). [cleaner-blackboard ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (informationRequest (manipulator)). [cleaner ][04:40:44] (transfer (assembler) (manipulator) (object-held tenon at position 85 145)) [assembler ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [motherAgent ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [collisionAvoider ][04:40:44] LOG: MSG Received: Sender: cleaner, Message: (transfer (assembler) (manipulator) (object-held tenon at position 85 145)). [assembler-blackboard][04:40:44] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (object-held tenon at position 85 145)). [assembler-execution ][04:40:44] LOG: Resource Manipulator Received [assembler ][04:40:44] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][04:40:44] LOG: (acknowledge) [manipulator-primitiv][04:40:44] LOG: Manipulator Received: (move-object (tenon) to (38, 88)). [collisionAvoider-exe][04:40:44] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:46] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:47] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][04:40:48] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 38 88)). [assembler ][04:40:48] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][04:40:48] LOG: (acknowledge) [assembler-execution ][04:40:48] LOG: (move-object (tenon) to (38, 88)) finished [assembler-execution ][04:40:48] LOG: (join-pair tenon mortise) started [assembler ][04:40:48] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][04:40:48] LOG: (acknowledge) [manipulator-primitiv][04:40:48] LOG: Manipulator Received: (join-pair (tenon) (mortise) at (38, 88)). [collisionAvoider-exe][04:40:49] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:50] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][04:40:52] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][04:40:52] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][04:40:52] LOG: (acknowledge) [assembler-execution ][04:40:52] LOG: (join-pair tenon mortise) finished [assembler ][04:40:52] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][04:40:52] LOG: (acknowledge) [manipulator-primitiv][04:40:52] LOG: Manipulator Received: (move-object (null) to (home)). [collisionAvoider-exe][04:40:52] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][04:40:53] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][04:40:53] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][04:40:53] LOG: (acknowledge) [assembler-execution ][04:40:53] LOG: (scan-for-static-object object) started [assembler ][04:40:53] LOG: MSG Received: Sender: assembler-execution, Message: (free (manipulator)). [cleaner ][04:40:54] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [assembler ][04:40:54] (free (manipulator)) [motherAgent ][04:40:54] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider ][04:40:54] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider-exe][04:40:54] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:40:56] LOG: Tenons in image: (objects ((1) (86) (171) (77) (false)) ((2) (76) (39) (90) (true)) ((3) (137) (246) (160) (false))) [collisionAvoider-exe][04:40:56] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:40:56] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (77) (39) (89) (true))) [assembler-execution ][04:40:56] LOG: Found at least one piece and one tenon [assembler-execution ][04:40:56] LOG: Tenon is circular [assembler-execution ][04:40:56] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:40:57] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][04:40:59] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:40:59] LOG: Tenons in image: (objects ((1) (74) (39) (90) (true))) [assembler-execution ][04:40:59] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (80) (39) (89) (true))) [assembler-execution ][04:40:59] LOG: Found at least one piece and one tenon [assembler-execution ][04:40:59] LOG: Tenon is circular [assembler-execution ][04:40:59] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:41:01] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:41:03] LOG: Tenons in image: (objects ((1) (74) (39) (90) (true))) [assembler-execution ][04:41:03] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (78) (39) (89) (true))) [assembler-execution ][04:41:03] LOG: Found at least one piece and one tenon [assembler-execution ][04:41:03] LOG: Tenon is circular [assembler-execution ][04:41:03] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:41:03] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:41:06] LOG: Tenons in image: (objects ((1) (74) (39) (90) (true))) [assembler-execution ][04:41:06] LOG: Mortises in image: (objects ((1) (121) (38) (88) (true)) ((2) (77) (39) (89) (true))) [assembler-execution ][04:41:06] LOG: Found at least one piece and one tenon [assembler-execution ][04:41:06] LOG: Tenon is circular [assembler-execution ][04:41:06] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:41:06] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:41:08] LOG: Tenons in image: (objects ((1) (74) (39) (90) (true))) [collisionAvoider-exe][04:41:08] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:41:08] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (79) (39) (89) (true))) [assembler-execution ][04:41:08] LOG: Found at least one piece and one tenon [assembler-execution ][04:41:08] LOG: Tenon is circular [assembler-execution ][04:41:08] LOG: Tenon is inside the reachable area [motherAgent ][04:41:08] LOG: MSG Received: Sender: stop, Message: (stop). [motherAgent ][04:41:08] (requestAll) [collisionAvoider ][04:41:08] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [cleaner ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [assembler ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [assembler-blackboard][04:41:09] LOG: MSG Received: Sender: assembler, Message: (informationRequest (manipulator)). [cleaner ][04:41:09] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [assembler ][04:41:09] (transfer (motherAgent) (manipulator) (free)) [motherAgent ][04:41:09] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [collisionAvoider ][04:41:09] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [motherAgent ][04:41:09] (deleteAgent (collisionAvoider)) [collisionAvoider ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [motherAgent ][04:41:09] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [cleaner ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [collisionAvoider ][04:41:09] LOG: Agent collisionAvoider terminated at nausika. [collisionAvoider-exe][04:41:09] LOG: MSG Received: Sender: collisionAvoider, Message: (halt). [collisionAvoider-exe][04:41:09] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-bla][04:41:09] LOG: MSG Received: Sender: collisionAvoider, Message: (halt). [assembler ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [collisionAvoider-bla][04:41:09] LOG: Blackboard Module collisionAvoider terminated at nausika. [motherAgent ][04:41:09] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [motherAgent ][04:41:09] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [motherAgent ][04:41:09] (deleteAgent (cleaner)) [assembler ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (cleaner)). [cleaner ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (cleaner)). [motherAgent ][04:41:09] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [motherAgent ][04:41:09] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [cleaner ][04:41:09] LOG: Agent cleaner terminated at nikita. [cleaner-execution ][04:41:09] LOG: MSG Received: Sender: cleaner, Message: (halt). [cleaner-blackboard ][04:41:09] LOG: MSG Received: Sender: cleaner, Message: (halt). [cleaner-blackboard ][04:41:09] LOG: Blackboard Module cleaner terminated at nikita. [motherAgent ][04:41:09] (deleteAgent (assembler)) [assembler ][04:41:09] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (assembler)). [motherAgent ][04:41:09] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [assembler ][04:41:09] LOG: Agent assembler terminated at enya. [assembler-blackboard][04:41:10] LOG: MSG Received: Sender: assembler, Message: (halt). [assembler-blackboard][04:41:10] LOG: Blackboard Module assembler terminated at enya. [assembler-execution ][04:41:10] LOG: MSG Received: Sender: assembler, Message: (halt). [assembler-execution ][04:41:10] LOG: Tenons in image: (objects ((1) (120) (38) (88) (true)) ((2) (79) (39) (89) (true))) [assembler-execution ][04:41:10] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (79) (39) (89) (true))) [assembler-execution ][04:41:10] LOG: Found at least one piece and one tenon [assembler-execution ][04:41:10] LOG: Tenon is circular [assembler-execution ][04:41:10] LOG: Tenon is inside the reachable area [assembler-execution ][04:41:10] LOG: Tenon is circular [assembler-execution ][04:41:10] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:41:10] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][04:41:14] LOG: Tenons in image: (objects ((1) (74) (39) (90) (true))) [assembler-execution ][04:41:14] LOG: Mortises in image: (objects ((1) (120) (38) (88) (true)) ((2) (79) (39) (89) (true))) [assembler-execution ][04:41:14] LOG: Found at least one piece and one tenon [assembler-execution ][04:41:14] LOG: Tenon is circular [assembler-execution ][04:41:14] LOG: Tenon is inside the reachable area [collisionAvoider-exe][04:41:16] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [motherAgent ][04:41:19] (halt)