Agent Comunication Log Archive Started at host nausika at Sun Jun 7 05:24:26 1998 [ AGENT NAME ][TIME] and Message [motherAgent ][05:24:26] LOG: Initializing Agent motherAgent started at nausika. [motherAgent ][05:24:26] (addAgent (assembler) (assembler motherAgent )) [assembler ][05:24:27] LOG: Agent assembler started at enya. [assembler ][05:24:27] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (assembler) (assembler motherAgent )). [motherAgent ][05:24:27] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [assembler ][05:24:27] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [assembler-execution ][05:24:27] LOG: Execution Module assembler-execution started at enya. [assembler-blackboard][05:24:28] LOG: Blackboard Module assembler-blackboard started at enya. [assembler-blackboard][05:24:28] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (free)). [motherAgent ][05:24:28] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [motherAgent ][05:24:28] (addAgent (cleaner) (assembler cleaner motherAgent )) [assembler ][05:24:28] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (cleaner) (assembler cleaner motherAgent )). [motherAgent ][05:24:28] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [cleaner ][05:24:28] LOG: Agent cleaner started at nikita. [cleaner ][05:24:28] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (cleaner) (assembler cleaner motherAgent )). [motherAgent ][05:24:28] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [cleaner ][05:24:28] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [cleaner-execution ][05:24:29] LOG: Execution Module cleaner-execution started at nikita. [cleaner-blackboard ][05:24:29] LOG: Blackboard Module cleaner-blackboard started at nikita. [cleaner-blackboard ][05:24:29] LOG: MSG Received: Sender: cleaner, Message: (updateResource (manipulator) (free)). [motherAgent ][05:24:29] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [motherAgent ][05:24:29] (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )) [cleaner ][05:24:29] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [assembler ][05:24:29] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [motherAgent ][05:24:29] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [motherAgent ][05:24:29] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [collisionAvoider ][05:24:30] LOG: Agent collisionAvoider started at nausika. [collisionAvoider ][05:24:31] LOG: MSG Received: Sender: motherAgent, Message: (addAgent (collisionAvoider) (assembler cleaner collisionAvoider motherAgent )). [motherAgent ][05:24:31] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [collisionAvoider ][05:24:31] LOG: MSG Received: Sender: motherAgent, Message: (inform ( manipulator motherAgent busy )). [collisionAvoider-exe][05:24:32] LOG: Execution Module collisionAvoider-execution started at nausika. [collisionAvoider-bla][05:24:32] LOG: Blackboard Module collisionAvoider-blackboard started at nausika. [collisionAvoider-bla][05:24:32] LOG: MSG Received: Sender: collisionAvoider, Message: (updateResource (manipulator) (free)). [motherAgent ][05:24:32] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [motherAgent ][05:24:33] (freeAll) [collisionAvoider ][05:24:33] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [cleaner ][05:24:33] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [assembler ][05:24:33] LOG: MSG Received: Sender: motherAgent, Message: (freeAll). [assembler-execution ][05:24:34] LOG: (scan-for-free-parts parts) started [cleaner-execution ][05:24:34] LOG: (scan-for-static-object trash) started [collisionAvoider-exe][05:24:37] LOG: (detect-moving-object object) started [capture-primitive ][05:24:38] LOG: Image capture primitive agent initialized [assembler-execution ][05:24:40] LOG: Tenons in image: (objects ((1) (58) (221) (37) (true)) ((2) (62) (88) (103) (false)) ((3) (76) (20) (129) (true)) ((4) (141) (131) (160) (false)) ((5) (35) (105) (153) (false))) [assembler-execution ][05:24:40] LOG: Mortises in image: (objects ((1) (93) (24) (90) (false)) ((2) (162) (72) (141) (false))) [collisionAvoider-exe][05:24:44] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:24:44] LOG: Tenons in image: (objects ((1) (58) (222) (37) (true)) ((2) (92) (90) (93) (true)) ((3) (77) (20) (129) (true)) ((4) (74) (132) (147) (true))) [assembler-execution ][05:24:44] LOG: Mortises in image: (objects ((1) (122) (25) (79) (true)) ((2) (137) (253) (84) (true)) ((3) (76) (25) (79) (true)) ((4) (91) (253) (84) (true)) ((5) (120) (159) (101) (true)) ((6) (75) (159) (101) (true)) ((7) (103) ( 73) (141) (true)) ((8) (60) (72) (140) (true))) [assembler-execution ][05:24:44] LOG: Found at least one piece and one tenon [assembler-execution ][05:24:44] LOG: Tenon is circular [assembler-execution ][05:24:44] LOG: Tenon is inside the reachable area [assembler-execution ][05:24:44] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:24:44] LOG: (select-pair tenon mortise) started [assembler-execution ][05:24:44] LOG: Found a matching mortise [assembler-execution ][05:24:44] LOG: Matching mortise is free [assembler-execution ][05:24:44] LOG: Mortise is inside the reachable area [assembler-execution ][05:24:44] LOG: (select-pair tenon mortise) finished [assembler-execution ][05:24:44] LOG: Resource Manipulator Needed [assembler-execution ][05:24:44] LOG: I'll request it. [assembler ][05:24:44] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [motherAgent ][05:24:44] LOG: MSG Received: Sender: assembler, Message: (request (assembler) (manipulator)). [motherAgent ][05:24:44] (transfer (assembler) (manipulator) (free)) [collisionAvoider ][05:24:44] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [assembler ][05:24:44] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [cleaner ][05:24:44] LOG: MSG Received: Sender: motherAgent, Message: (transfer (assembler) (manipulator) (free)). [assembler-blackboard][05:24:44] LOG: MSG Received: Sender: assembler, Message: (updateResource (manipulator) (free)). [assembler-execution ][05:24:44] LOG: Resource Manipulator Received [assembler-blackboard][05:24:44] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [collisionAvoider-exe][05:24:46] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:24:48] LOG: (pickup-object (tenon) at (222, 37)) started [assembler ][05:24:48] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:24:48] LOG: (acknowledge) [manipulator-primitiv][05:24:48] LOG: Manipulator Received: (pickup-object (tenon) at (222, 37)). [collisionAvoider-exe][05:24:48] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:24:50] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:24:52] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:24:53] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 222 37)). [assembler ][05:24:53] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:24:53] LOG: (acknowledge) [assembler-execution ][05:24:53] LOG: (pickup-object (tenon) at (222, 37)) finished [assembler-execution ][05:24:53] LOG: (move-object (tenon) to (72, 140)) started [assembler ][05:24:53] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:24:53] LOG: (acknowledge) [manipulator-primitiv][05:24:53] LOG: Manipulator Received: (move-object (tenon) to (72, 140)). [collisionAvoider-exe][05:24:54] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:24:55] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 72 140)). [assembler ][05:24:55] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:24:55] LOG: (acknowledge) [assembler-execution ][05:24:55] LOG: (move-object (tenon) to (72, 140)) finished [assembler-execution ][05:24:55] LOG: (join-pair tenon mortise) started [assembler ][05:24:55] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:24:55] LOG: (acknowledge) [manipulator-primitiv][05:24:55] LOG: Manipulator Received: (join-pair (tenon) (mortise) at (72, 140)). [collisionAvoider-exe][05:24:56] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:24:58] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:24:59] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:24:59] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:24:59] LOG: (acknowledge) [assembler-execution ][05:24:59] LOG: (join-pair tenon mortise) finished [assembler ][05:24:59] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:24:59] LOG: (acknowledge) [manipulator-primitiv][05:24:59] LOG: Manipulator Received: (move-object (null) to (home)). [collisionAvoider-exe][05:25:00] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:01] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:25:01] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:01] LOG: (acknowledge) [assembler-execution ][05:25:01] LOG: (scan-for-static-object object) started [assembler ][05:25:01] LOG: MSG Received: Sender: assembler-execution, Message: (free (manipulator)). [assembler ][05:25:01] (free (manipulator)) [cleaner ][05:25:01] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [motherAgent ][05:25:01] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider ][05:25:01] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider-exe][05:25:02] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:04] LOG: Tenons in image: (objects ((1) (81) (159) (96) (false)) ((2) (76) (20) (129) (true)) ((3) (55) (72) (140) (true)) ((4) (29) (203) (167) (false)) ((5) (101) (243) (190) (false))) [collisionAvoider-exe][05:25:04] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:04] LOG: Mortises in image: (objects ((1) (61) (262) (68) (false)) ((2) (121) (25) (79) (true)) ((3) (76) (25) (78) (true)) ((4) (141) (154) (101) (false)) ((5) (105) (72) (141) (true)) ((6) (62) (72) (140) (true))) [assembler-execution ][05:25:04] LOG: Found at least one piece and one tenon [assembler-execution ][05:25:04] LOG: Tenon is circular [assembler-execution ][05:25:04] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:04] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:25:04] LOG: (select-pair tenon mortise) started [assembler-execution ][05:25:04] LOG: Found a matching mortise [assembler-execution ][05:25:04] LOG: Matching mortise is free [assembler-execution ][05:25:04] LOG: Mortise is inside the reachable area [assembler-execution ][05:25:04] LOG: (select-pair tenon mortise) finished [assembler-execution ][05:25:04] LOG: Resource Manipulator Needed [assembler-execution ][05:25:04] LOG: I'll request it. [assembler ][05:25:04] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [assembler ][05:25:04] (transfer (assembler) (manipulator) (free)) [assembler-execution ][05:25:04] LOG: Resource Manipulator Received [motherAgent ][05:25:04] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [collisionAvoider ][05:25:04] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [cleaner ][05:25:04] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [assembler-blackboard][05:25:04] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [collisionAvoider-exe][05:25:04] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:06] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:06] LOG: (pickup-object (tenon) at (20, 129)) started [assembler ][05:25:06] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:07] LOG: (acknowledge) [manipulator-primitiv][05:25:07] LOG: Manipulator Received: (pickup-object (tenon) at (20, 129)). [collisionAvoider-exe][05:25:07] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:09] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:11] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:13] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:14] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 20 129)). [assembler ][05:25:14] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:14] LOG: (acknowledge) [assembler-execution ][05:25:14] LOG: (pickup-object (tenon) at (20, 129)) finished [assembler-execution ][05:25:14] LOG: (move-object (tenon) to (25, 78)) started [assembler ][05:25:14] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:14] LOG: (acknowledge) [manipulator-primitiv][05:25:14] LOG: Manipulator Received: (move-object (tenon) to (25, 78)). [collisionAvoider-exe][05:25:14] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:15] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 25 78)). [assembler ][05:25:15] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:15] LOG: (acknowledge) [assembler-execution ][05:25:15] LOG: (move-object (tenon) to (25, 78)) finished [assembler-execution ][05:25:15] LOG: (join-pair tenon mortise) started [assembler ][05:25:15] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:15] LOG: (acknowledge) [manipulator-primitiv][05:25:15] LOG: Manipulator Received: (join-pair (tenon) (mortise) at (25, 78)). [collisionAvoider-exe][05:25:16] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:18] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:19] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:25:19] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:19] LOG: (acknowledge) [assembler-execution ][05:25:19] LOG: (join-pair tenon mortise) finished [assembler ][05:25:19] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:19] LOG: (acknowledge) [manipulator-primitiv][05:25:19] LOG: Manipulator Received: (move-object (null) to (home)). [collisionAvoider-exe][05:25:20] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:21] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:25:21] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:21] LOG: (acknowledge) [assembler-execution ][05:25:21] LOG: (scan-for-static-object object) started [assembler ][05:25:21] LOG: MSG Received: Sender: assembler-execution, Message: (free (manipulator)). [assembler ][05:25:21] (free (manipulator)) [cleaner ][05:25:21] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [motherAgent ][05:25:21] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider ][05:25:21] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider-exe][05:25:22] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:24] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:24] LOG: Tenons in image: (objects ((1) (151) (230) (51) (false)) ((2) (73) (24) (78) (true)) ((3) (92) (90) (94) (true)) ((4) (32) (300) (99) (true)) ((5) (55) (72) (140) (true)) ((6) (75) (132) (147) (true))) [assembler-execution ][05:25:24] LOG: Mortises in image: (objects ((1) (141) (241) (78) (false)) ((2) (120) (25) (79) (true)) ((3) (80) (23) (78) (true)) ((4) (35) (160) (81) (false)) ((5) (121) (159) (104) (false)) ((6) (75) (159) (101) (true)) ((7) (104 ) (72) (141) (true)) ((8) (60) (72) (140) (true))) [assembler-execution ][05:25:24] LOG: Found at least one piece and one tenon [assembler-execution ][05:25:24] LOG: Tenon is circular [assembler-execution ][05:25:24] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:24] LOG: Tenon is circular [assembler-execution ][05:25:24] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:24] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:25:24] LOG: (select-pair tenon mortise) started [assembler-execution ][05:25:24] LOG: Tenon is circular [assembler-execution ][05:25:24] LOG: Tenon is outside the reachable area [collisionAvoider-exe][05:25:25] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:27] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:27] LOG: Tenons in image: (objects ((1) (75) (24) (78) (true)) ((2) (92) (90) (93) (true)) ((3) (55) (72) (140) (true)) ((4) (74) (132) (147) (true))) [assembler-execution ][05:25:27] LOG: Mortises in image: (objects ((1) (139) (246) (76) (true)) ((2) (120) (25) (79) (true)) ((3) (90) (246) (76) (true)) ((4) (80) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (75) (159) (101) (true)) ((7) (104) ( 72) (141) (true)) ((8) (61) (72) (140) (true))) [assembler-execution ][05:25:27] LOG: Found at least one piece and one tenon [assembler-execution ][05:25:27] LOG: Tenon is circular [assembler-execution ][05:25:27] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:27] LOG: Tenon is circular [assembler-execution ][05:25:27] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:27] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:25:27] LOG: (select-pair tenon mortise) started [assembler-execution ][05:25:27] LOG: Found a matching mortise [assembler-execution ][05:25:27] LOG: Matching mortise is free [assembler-execution ][05:25:27] LOG: Mortise is inside the reachable area [assembler-execution ][05:25:27] LOG: (select-pair tenon mortise) finished [assembler-execution ][05:25:27] LOG: Resource Manipulator Needed [assembler-execution ][05:25:27] LOG: I'll request it. [assembler ][05:25:27] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [cleaner ][05:25:27] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [assembler ][05:25:27] (transfer (assembler) (manipulator) (free)) [assembler-execution ][05:25:27] LOG: Resource Manipulator Received [motherAgent ][05:25:27] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [collisionAvoider ][05:25:27] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [assembler-blackboard][05:25:27] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [collisionAvoider-exe][05:25:29] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:31] LOG: (pickup-object (tenon) at (90, 93)) started [assembler ][05:25:31] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:31] LOG: (acknowledge) [manipulator-primitiv][05:25:31] LOG: Manipulator Received: (pickup-object (tenon) at (90, 93)). [collisionAvoider-exe][05:25:31] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:33] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:35] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:36] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:37] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 90 93)). [assembler ][05:25:37] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:37] LOG: (acknowledge) [assembler-execution ][05:25:37] LOG: (pickup-object (tenon) at (90, 93)) finished [assembler-execution ][05:25:37] LOG: (move-object (tenon) to (246, 76)) started [assembler ][05:25:37] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:37] LOG: (acknowledge) [manipulator-primitiv][05:25:37] LOG: Manipulator Received: (move-object (tenon) to (246, 76)). [collisionAvoider-exe][05:25:38] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:39] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 246 76)). [assembler ][05:25:39] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:39] LOG: (acknowledge) [assembler-execution ][05:25:39] LOG: (move-object (tenon) to (246, 76)) finished [assembler-execution ][05:25:39] LOG: (join-pair tenon mortise) started [assembler ][05:25:39] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:39] LOG: (acknowledge) [manipulator-primitiv][05:25:39] LOG: Manipulator Received: (join-pair (tenon) (mortise) at (246, 76)). [collisionAvoider-exe][05:25:41] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:42] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:42] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:25:42] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:42] LOG: (acknowledge) [assembler-execution ][05:25:42] LOG: (join-pair tenon mortise) finished [assembler ][05:25:42] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:42] LOG: (acknowledge) [manipulator-primitiv][05:25:42] LOG: Manipulator Received: (move-object (null) to (home)). [assembler-blackboard][05:25:43] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:25:44] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:44] LOG: (acknowledge) [assembler-execution ][05:25:44] LOG: (scan-for-static-object object) started [assembler ][05:25:44] LOG: MSG Received: Sender: assembler-execution, Message: (free (manipulator)). [assembler ][05:25:44] (free (manipulator)) [cleaner ][05:25:44] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [motherAgent ][05:25:44] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider ][05:25:44] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider-exe][05:25:44] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:46] LOG: Tenons in image: (objects ((1) (89) (247) (79) (true)) ((2) (74) (24) (78) (true)) ((3) (55) (72) (140) (true)) ((4) (74) (132) (147) (true))) [collisionAvoider-exe][05:25:46] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:46] LOG: Mortises in image: (objects ((1) (135) (246) (76) (true)) ((2) (121) (25) (79) (true)) ((3) (100) (247) (77) (true)) ((4) (80) (23) (78) (true)) ((5) (122) (159) (101) (true)) ((6) (75) (159) (101) (true)) ((7) (103) (72) (141) (true)) ((8) (59) (72) (140) (true))) [assembler-execution ][05:25:46] LOG: Found at least one piece and one tenon [assembler-execution ][05:25:46] LOG: Tenon is circular [assembler-execution ][05:25:46] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:46] LOG: Tenon is circular [assembler-execution ][05:25:46] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:46] LOG: Tenon is circular [assembler-execution ][05:25:46] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:46] LOG: Tenon is circular [assembler-execution ][05:25:46] LOG: Tenon is inside the reachable area [assembler-execution ][05:25:46] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:25:46] LOG: (select-pair tenon mortise) started [assembler-execution ][05:25:46] LOG: Found a matching mortise [assembler-execution ][05:25:46] LOG: Matching mortise is free [assembler-execution ][05:25:46] LOG: Mortise is inside the reachable area [assembler-execution ][05:25:46] LOG: (select-pair tenon mortise) finished [assembler-execution ][05:25:46] LOG: Resource Manipulator Needed [assembler-execution ][05:25:46] LOG: I'll request it. [assembler ][05:25:47] LOG: MSG Received: Sender: assembler-execution, Message: (request (manipulator)). [assembler ][05:25:47] (transfer (assembler) (manipulator) (free)) [cleaner ][05:25:47] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [assembler-execution ][05:25:47] LOG: Resource Manipulator Received [motherAgent ][05:25:47] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [collisionAvoider ][05:25:47] LOG: MSG Received: Sender: assembler, Message: (transfer (assembler) (manipulator) (free)). [assembler-blackboard][05:25:47] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [collisionAvoider-exe][05:25:47] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:25:49] LOG: (pickup-object (tenon) at (132, 147)) started [assembler ][05:25:49] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:49] LOG: (acknowledge) [collisionAvoider-exe][05:25:49] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [manipulator-primitiv][05:25:49] LOG: Manipulator Received: (pickup-object (tenon) at (132, 147)). [collisionAvoider-exe][05:25:51] LOG: AreaInImage1 = 25; AreaInImage2 = 0; Difference = 25; Threshold = 30. [collisionAvoider-exe][05:25:53] LOG: AreaInImage1 = 0; AreaInImage2 = 25; Difference = 25; Threshold = 30. [collisionAvoider-exe][05:25:55] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:25:55] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 132 147)). [assembler ][05:25:55] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:55] LOG: (acknowledge) [assembler-execution ][05:25:55] LOG: (pickup-object (tenon) at (132, 147)) finished [assembler-execution ][05:25:55] LOG: (move-object (tenon) to (159, 101)) started [assembler ][05:25:55] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:55] LOG: (acknowledge) [manipulator-primitiv][05:25:55] LOG: Manipulator Received: (move-object (tenon) to (159, 101)). [assembler-blackboard][05:25:57] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (object-held tenon at position 159 101)). [assembler ][05:25:57] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:25:57] LOG: (acknowledge) [assembler-execution ][05:25:57] LOG: (move-object (tenon) to (159, 101)) finished [assembler-execution ][05:25:57] LOG: (join-pair tenon mortise) started [assembler ][05:25:57] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:25:57] LOG: (acknowledge) [manipulator-primitiv][05:25:57] LOG: Manipulator Received: (join-pair (tenon) (mortise) at (159, 101)). [collisionAvoider-exe][05:25:57] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:25:59] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:26:01] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:26:01] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:26:01] LOG: (acknowledge) [assembler-execution ][05:26:01] LOG: (join-pair tenon mortise) finished [assembler ][05:26:01] LOG: MSG Received: Sender: assembler-execution, Message: (disableInterruption (manipulator)). [assembler-execution ][05:26:01] LOG: (acknowledge) [manipulator-primitiv][05:26:01] LOG: Manipulator Received: (move-object (null) to (home)). [collisionAvoider-exe][05:26:01] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-blackboard][05:26:02] LOG: MSG Received: Sender: assembler-execution, Message: (updateResource (manipulator) (free)). [assembler ][05:26:02] LOG: MSG Received: Sender: assembler-execution, Message: (enableInterruption (manipulator)). [assembler-execution ][05:26:02] LOG: (acknowledge) [assembler-execution ][05:26:02] LOG: (scan-for-static-object object) started [assembler ][05:26:02] LOG: MSG Received: Sender: assembler-execution, Message: (free (manipulator)). [assembler ][05:26:02] (free (manipulator)) [cleaner ][05:26:02] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [motherAgent ][05:26:02] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider ][05:26:02] LOG: MSG Received: Sender: assembler, Message: (free (manipulator)). [collisionAvoider-exe][05:26:03] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:05] LOG: Tenons in image: (objects ((1) (73) (24) (78) (true)) ((2) (69) (159) (100) (true)) ((3) (55) (72) (140) (true))) [collisionAvoider-exe][05:26:05] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:05] LOG: Mortises in image: (objects ((1) (124) (247) (63) (false)) ((2) (120) (25) (79) (true)) ((3) (80) (23) (78) (true)) ((4) (120) (245) (87) (false)) ((5) (119) (159) (101) (true)) ((6) (76) (158) (100) (true)) ((7) (104 ) (72) (141) (true)) ((8) (59) (72) (140) (true))) [assembler-execution ][05:26:05] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:05] LOG: Tenon is circular [assembler-execution ][05:26:05] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:05] LOG: Tenon is circular [assembler-execution ][05:26:05] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:05] LOG: Tenon is circular [assembler-execution ][05:26:05] LOG: Tenon is inside the reachable area [collisionAvoider-exe][05:26:05] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:26:07] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:08] LOG: Tenons in image: (objects ((1) (91) (247) (79) (true)) ((2) (75) (24) (78) (true)) ((3) (70) (159) (100) (true)) ((4) (56) (72) (140) (true))) [assembler-execution ][05:26:08] LOG: Mortises in image: (objects ((1) (138) (246) (76) (true)) ((2) (120) (25) (79) (true)) ((3) (100) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (121) (159) (101) (true)) ((6) (78) (159) (100) (true)) ((7) (103) (72) (141) (true)) ((8) (59) (72) (140) (true))) [assembler-execution ][05:26:08] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:08] LOG: Tenon is circular [assembler-execution ][05:26:08] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:08] LOG: Tenon is circular [assembler-execution ][05:26:08] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:08] LOG: Tenon is circular [assembler-execution ][05:26:08] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:08] LOG: Tenon is circular [assembler-execution ][05:26:08] LOG: Tenon is inside the reachable area [collisionAvoider-exe][05:26:09] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:11] LOG: Tenons in image: (objects ((1) (90) (247) (79) (true)) ((2) (74) (24) (78) (true)) ((3) (71) (159) (100) (true)) ((4) (56) (72) (140) (true))) [collisionAvoider-exe][05:26:11] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:11] LOG: Mortises in image: (objects ((1) (139) (246) (76) (true)) ((2) (121) (25) (79) (true)) ((3) (99) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (77) (159) (100) (true)) ((7) (103) ( 72) (141) (true)) ((8) (59) (72) (140) (true))) [assembler-execution ][05:26:11] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:11] LOG: Tenon is circular [assembler-execution ][05:26:11] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:11] LOG: Tenon is circular [assembler-execution ][05:26:11] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:11] LOG: Tenon is circular [assembler-execution ][05:26:11] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:11] LOG: Tenon is circular [assembler-execution ][05:26:11] LOG: Tenon is inside the reachable area [collisionAvoider-exe][05:26:12] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:26:14] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:14] LOG: Tenons in image: (objects ((1) (89) (247) (79) (true)) ((2) (74) (24) (78) (true)) ((3) (70) (159) (100) (true)) ((4) (55) (72) (140) (true))) [assembler-execution ][05:26:14] LOG: Mortises in image: (objects ((1) (137) (246) (76) (true)) ((2) (122) (25) (79) (true)) ((3) (97) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (77) (159) (100) (true)) ((7) (104) ( 72) (141) (true)) ((8) (61) (72) (140) (true))) [assembler-execution ][05:26:14] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:14] LOG: Tenon is circular [assembler-execution ][05:26:14] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:14] LOG: Tenon is circular [assembler-execution ][05:26:14] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:14] LOG: Tenon is circular [assembler-execution ][05:26:14] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:14] LOG: Tenon is circular [assembler-execution ][05:26:14] LOG: Tenon is inside the reachable area [motherAgent ][05:26:16] LOG: MSG Received: Sender: stop, Message: (stop). [motherAgent ][05:26:17] (requestAll) [collisionAvoider ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [cleaner ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [assembler ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (requestAll). [assembler-blackboard][05:26:17] LOG: MSG Received: Sender: assembler, Message: (informationRequest (manipulator)). [cleaner ][05:26:17] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [assembler ][05:26:17] (transfer (motherAgent) (manipulator) (free)) [motherAgent ][05:26:17] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [collisionAvoider ][05:26:17] LOG: MSG Received: Sender: assembler, Message: (transfer (motherAgent) (manipulator) (free)). [collisionAvoider-exe][05:26:17] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [motherAgent ][05:26:17] (deleteAgent (collisionAvoider)) [collisionAvoider ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [motherAgent ][05:26:17] LOG: MSG Received: Sender: collisionAvoider, Message: ((acknowledge (collisionAvoider)). [collisionAvoider ][05:26:17] LOG: Agent collisionAvoider terminated at nausika. [collisionAvoider-exe][05:26:17] LOG: MSG Received: Sender: collisionAvoider, Message: (halt). [collisionAvoider-exe][05:26:17] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-bla][05:26:17] LOG: MSG Received: Sender: collisionAvoider, Message: (halt). [collisionAvoider-bla][05:26:17] LOG: Blackboard Module collisionAvoider terminated at nausika. [cleaner ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [assembler ][05:26:17] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (collisionAvoider)). [motherAgent ][05:26:17] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [motherAgent ][05:26:17] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [motherAgent ][05:26:17] (deleteAgent (cleaner)) [assembler ][05:26:18] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (cleaner)). [cleaner ][05:26:18] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (cleaner)). [motherAgent ][05:26:18] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [cleaner ][05:26:18] LOG: Agent cleaner terminated at nikita. [motherAgent ][05:26:18] LOG: MSG Received: Sender: cleaner, Message: ((acknowledge (cleaner)). [cleaner-execution ][05:26:18] LOG: MSG Received: Sender: cleaner, Message: (halt). [cleaner-blackboard ][05:26:18] LOG: MSG Received: Sender: cleaner, Message: (halt). [cleaner-blackboard ][05:26:18] LOG: Blackboard Module cleaner terminated at nikita. [motherAgent ][05:26:18] (deleteAgent (assembler)) [assembler ][05:26:18] LOG: MSG Received: Sender: motherAgent, Message: (deleteAgent (assembler)). [assembler ][05:26:18] LOG: Agent assembler terminated at enya. [motherAgent ][05:26:18] LOG: MSG Received: Sender: assembler, Message: ((acknowledge (assembler)). [assembler-execution ][05:26:18] LOG: MSG Received: Sender: assembler, Message: (halt). [assembler-blackboard][05:26:18] LOG: MSG Received: Sender: assembler, Message: (halt). [assembler-blackboard][05:26:18] LOG: Blackboard Module assembler terminated at enya. [assembler-execution ][05:26:18] LOG: Tenons in image: (objects ((1) (137) (246) (76) (true)) ((2) (122) (25) (79) (true)) ((3) (97) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (77) (159) (100) (true)) ((7) (104) (72 ) (141) (true)) ((8) (61) (72) (140) (true))) [assembler-execution ][05:26:18] LOG: Mortises in image: (objects ((1) (137) (246) (76) (true)) ((2) (122) (25) (79) (true)) ((3) (97) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (77) (159) (100) (true)) ((7) (104) ( 72) (141) (true)) ((8) (61) (72) (140) (true))) [assembler-execution ][05:26:18] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:18] LOG: Tenon is circular [assembler-execution ][05:26:18] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:20] LOG: Tenons in image: (objects ((1) (90) (247) (79) (true)) ((2) (75) (24) (78) (true)) ((3) (70) (159) (100) (true)) ((4) (56) (72) (140) (true))) [assembler-execution ][05:26:20] LOG: Mortises in image: (objects ((1) (137) (246) (76) (true)) ((2) (121) (25) (79) (true)) ((3) (96) (247) (78) (true)) ((4) (81) (23) (78) (true)) ((5) (120) (159) (101) (true)) ((6) (78) (159) (100) (true)) ((7) (105) ( 72) (141) (true)) ((8) (60) (72) (140) (true))) [assembler-execution ][05:26:20] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:20] LOG: Tenon is circular [assembler-execution ][05:26:20] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:20] LOG: Tenon is circular [assembler-execution ][05:26:20] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:20] LOG: Tenon is circular [assembler-execution ][05:26:20] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:20] LOG: Tenon is circular [assembler-execution ][05:26:20] LOG: Tenon is inside the reachable area [collisionAvoider-exe][05:26:23] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [collisionAvoider-exe][05:26:23] LOG: AreaInImage1 = 0; AreaInImage2 = 0; Difference = 0; Threshold = 30. [assembler-execution ][05:26:27] LOG: Tenons in image: (objects ((1) (57) (227) (27) (true)) ((2) (90) (247) (79) (true)) ((3) (28) (40) (133) (false)) ((4) (36) (55) (141) (false)) ((5) (31) (12) (155) (false))) [assembler-execution ][05:26:27] LOG: Mortises in image: (objects ((1) (138) (246) (76) (true)) ((2) (122) (25) (79) (true)) ((3) (100) (247) (78) (true)) ((4) (74) (25) (79) (true)) ((5) (121) (159) (101) (true)) ((6) (75) (159) (101) (true)) ((7) (105) (73) (141) (true)) ((8) (59) (72) (140) (true))) [assembler-execution ][05:26:27] LOG: Found at least one piece and one tenon [assembler-execution ][05:26:27] LOG: Tenon is circular [assembler-execution ][05:26:27] LOG: Tenon is inside the reachable area [assembler-execution ][05:26:27] LOG: (scan-for-free-parts parts) finished [assembler-execution ][05:26:27] LOG: (select-pair tenon mortise) started [assembler-execution ][05:26:27] LOG: Found a matching mortise [assembler-execution ][05:26:27] LOG: Matching mortise is free [assembler-execution ][05:26:27] LOG: Mortise is inside the reachable area [assembler-execution ][05:26:28] LOG: (select-pair tenon mortise) finished [assembler-execution ][05:26:28] LOG: Resource Manipulator Needed [motherAgent ][05:26:28] (halt)