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Commit 943ed3d3 authored by Johannes Mey's avatar Johannes Mey
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Merge branch 'feature/waiting' into 'main' 

festival updatesfestival updatesfestival updatesfestival updatesfestival

See merge request !1
parents b1da57bc 2852709c
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1 merge request!1festival updatesfestival updatesfestival updatesfestival updatesfestival
Pipeline #15195 passed
Stage: build
Stage: test
Stage: ragdoc
Stage: publish
Stage: deploy
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.editorconfig 0 → 100644
+ 16
− 0
View file @ 943ed3d3
root = true
[*]
charset = utf-8
end_of_line = lf
indent_size = 4
indent_style = space
insert_final_newline = true
max_line_length = 120
tab_width = 4
trim_trailing_whitespace = true
[{*.jadd,*.java,*.jrag}]
indent_size = 2
tab_width = 2
ij_continuation_indent_size = 4
build.gradle
+ 16
− 12
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......@@ -9,7 +9,7 @@ plugins {
group 'de.tudresden.inf.st'
ext {
mainClassName = 'de.tudresden.inf.st.mg.Main'
mainClassName = 'de.tudresden.inf.st.mg.ImmersiveSortingController'
}
// set the main class name for `gradle run`
......@@ -44,7 +44,7 @@ idea.module.generatedSourceDirs += genSrc
sourceSets.main.java.srcDir genSrc
dependencies {
implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${relast2uml_version}"
implementation group: 'de.tudresden.inf.st', name: 'dumpAst', version: "${dumpAst_version}"
grammar2uml group: 'de.tudresden.inf.st', name: 'grammar2uml', version: "${grammar2uml_version}"
relast group: 'org.jastadd', name: 'relast', version: "${relast_version}"
testImplementation group: 'org.assertj', name: 'assertj-core', version: "${assertj_version}"
......@@ -52,10 +52,11 @@ dependencies {
testRuntimeOnly group: 'org.junit.jupiter', name: 'junit-jupiter-engine', version: "${jupyter_version}"
implementation group: 'io.javalin', name: 'javalin', version: "${javalin_version}"
implementation group: 'org.json', name: 'json', version: '20220320'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.3'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.3'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-databind', version: '2.13.4'
implementation group: 'com.fasterxml.jackson.core', name: 'jackson-core', version: '2.13.4'
implementation group: 'com.fasterxml.jackson.dataformat', name: 'jackson-dataformat-yaml', version: '2.13.4'
implementation group: 'org.slf4j', name: 'slf4j-simple', version: '1.7.31'
ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0-alpha-203'
ragconnect group: 'de.tudresden.inf.st', name: 'ragconnect', version: '1.0.0'
jastadd2 "org.jastadd:jastadd2:2.3.5-dresden-6"
implementation group: 'com.google.protobuf', name: 'protobuf-java', version: "${protobuf_version}"
implementation group: 'com.google.protobuf', name: 'protobuf-java-util', version: "${protobuf_version}"
......@@ -103,7 +104,7 @@ jar {
duplicatesStrategy = DuplicatesStrategy.WARN
}
def relastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def relastFiles = ['./src/gen/jastadd/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/gen/jastadd/RobotWorld.relast', './src/main/jastadd/load/LoadUnload.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def loadingRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/load/LoadWorld.relast', './src/main/jastadd/load/LoadUnload.relast']
def cleaningRelastFiles = ['./src/main/jastadd/common/MotionGrammar.relast', './src/main/jastadd/cleanup/RobotWorld.relast', './src/main/jastadd/cleanup/Cleanup.relast']
def grammarPrefix = './src/gen/jastadd/MotionGrammar'
......@@ -123,11 +124,11 @@ task ragConnect(type: JavaExec) {
'./src/main/jastadd/common/MotionGrammar.relast',
'./src/main/jastadd/cleanup/RobotWorld.relast',
'./src/main/jastadd/cleanup/RobotWorld.connect',
'--logReads',
'--logWrites',
// '--logReads',
// '--logWrites',
// '--logIncremental',
'--verbose',
'--rootNode=RobotScene',
// '--verbose',
'--rootNode=RobotWorld',
'--protocols=mqtt',
"--List=${jastAddListName}",
'--experimental-jastadd-329',
......@@ -141,6 +142,7 @@ task ragConnect(type: JavaExec) {
task generateLoadingGrammarDiagrams(type: JavaExec) {
group = 'Documentation'
classpath = configurations.grammar2uml
mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
args "--output=${loadingGrammarDiagramFile}", '--defaultFolders'
args loadingRelastFiles
......@@ -152,6 +154,7 @@ task generateLoadingGrammarDiagrams(type: JavaExec) {
task generateCleaningGrammarDiagrams(type: JavaExec) {
group = 'Documentation'
classpath = configurations.grammar2uml
mainClass = 'de.tudresden.inf.st.jastadd.grammar2uml.compiler.Compiler'
args "--output=${cleaningGrammarDiagramFile}", '--defaultFolders'
args cleaningRelastFiles
......@@ -169,8 +172,9 @@ task relastToJastAdd(type: JavaExec) {
'--useJastAddNames',
'--listClass=java.util.ArrayList',
"--jastAddList=${jastAddListName}",
"--resolverHelper",
'--file'
'--resolverHelper',
'--file',
'--serializer=jackson'
args relastFiles
inputs.files relastFiles
......
dashboard/src/App.css
+ 34
− 34
View file @ 943ed3d3
.App {
background-color: #282c34;
text-align: left;
background-color: #282c34;
text-align: left;
}
.App-logo {
height: 40vmin;
pointer-events: none;
}
@media (prefers-reduced-motion: no-preference) {
.App-logo {
animation: App-logo-spin infinite 20s linear;
}
height: 40vmin;
pointer-events: none;
}
.App-header {
background-color: #282c34;
min-height: 40px; /*100vmin*/
display: flex;
flex-direction: column;
align-items: center;
justify-content: center;
font-size: calc(10px + 2vmin);
color: white;
background-color: #282c34;
min-height: 40px;
display: flex;
flex-direction: column;
align-items: center;
justify-content: center;
font-size: calc(10px + 2vmin);
color: white;
}
.CurrentAst {
width: 100vw;
.ContextContainer {
width: 100vw;
overflow-x:scroll;
white-space: nowrap;
direction:rtl;
}
.AstInTimeline {
max-width: 100%;
.CurrentContext {
height: 50vh;
width: 100vw;
object-fit: contain;
/*object-fit: scale-down;*/
object-position: center;
}
.App-link {
color: #61dafb;
.AstContainer {
width: 100vw;
overflow-x:scroll;
white-space: nowrap;
direction:rtl;
}
.MG-Timeline {
max-width: 4000px !important;
.CurrentAst {
height: 50vh;
object-fit: cover;
object-position: bottom right;
}
@keyframes App-logo-spin {
from {
transform: rotate(0deg);
}
to {
transform: rotate(360deg);
}
.App-link {
color: #61dafb;
}
dashboard/src/App.js
+ 52
− 48
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import './App.css';
import React, { useEffect, useRef } from 'react';
import './index.css';
import { VerticalTimeline, VerticalTimelineElement } from 'react-vertical-timeline-component';
import 'react-vertical-timeline-component/style.min.css';
import { GiFamilyTree } from "react-icons/gi";
import { useSelector, useDispatch } from 'react-redux'
import { addAst, setAstList } from './mgSlice'
import { setAst, setContext } from './mgSlice'
function App() {
const ws = useRef(null);
const dispatch = useDispatch();
const asts = useSelector(state => state.mg.asts);
const ast = useSelector(state => state.mg.ast);
const context = useSelector(state => state.mg.context);
useEffect(() => {
ws.current = new WebSocket("ws://localhost:7070/ast-events");
......@@ -20,8 +19,10 @@ function App() {
ws.current.onmessage = (event) => {
const json = JSON.parse(event.data);
try {
if ((json.event = "data")) {
dispatch(addAst(json));
if (json.type === "ast") {
dispatch(setAst(json));
} else if (json.type === "context") {
dispatch(setContext(json));
}
} catch (err) {
console.log(err);
......@@ -36,72 +37,75 @@ function App() {
}, [dispatch]);
useEffect(() => {
if (asts.length === 0) {
fetch('http://localhost:7070/asts/')
if (ast.diagram == null) {
console.log("setting ast from WS 1");
fetch('http://localhost:7070/ast/')
.then(res => res.json())
.then((asts) => {
dispatch(setAstList(asts))
.then((ast) => {
console.log("setting ast from WS");
console.log(ast);
dispatch(setAst(ast))
})
.catch(console.log)
}
}, [dispatch, asts.length])
if (context.diagram == null) {
console.log("setting ctx from WS");
fetch('http://localhost:7070/context/')
.then(res => res.json())
.then((context) => {
dispatch(setContext(context))
})
.catch(console.log)
} else {
console.log(context)
}
}, [dispatch, ast, context])
return (
<div className="App">
<header className="App-header">
<ControlPanel />
<ControlPanel
ws={ws}
/>
</header>
<main>
<CurrentState
diagram={asts[0] ? asts[0].diagram : ''}
label={asts[0] ? asts[0].parseRule : ''}
<CurrentContextState
diagram={context ? context.diagram : ''}
label=''
/>
<VerticalTimeline
className='MG-Timeline'>
{asts.map(v => {
console.log(v.parseRule)
return (
<VerticalTimelineElement
className="ast-timeline-event"
contentStyle={{ background: 'rgb(33, 150, 243)', color: '#fff' }}
contentArrowStyle={{ borderRight: '7px solid rgb(33, 150, 243)' }}
date={new Date(v.timestamp).toLocaleTimeString('en-us', { hour12: false })}
iconStyle={{ background: 'rgb(33, 150, 243)', color: '#fff', rotate: '180deg' }}
icon={<GiFamilyTree />}
key={v.timestamp}
position={'right'}
>
<h3 className="vertical-timeline-element-title">{v.parseRule}()</h3>
<p>
<img className="AstInTimeline" src={`data:image/svg+xml;utf8,${encodeURIComponent(v.diagram)}`} alt={v.parseRule} />
</p>
</VerticalTimelineElement>
)
})}
</VerticalTimeline>
<CurrentASTState
diagram={ast ? ast.diagram : ''}
label={ast ? ast.parseRule : ''}
/>
</main>
</div>
);
}
function CurrentState(props) {
function CurrentASTState(props) {
return (
<div className="curent-state">
<div className="AstContainer">
<img className="CurrentAst" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
</div>
)
}
class ControlPanel extends React.Component {
render() {
function CurrentContextState(props) {
return (
<div className='ControlPanel'>
<button onClick={() => { alert('You clicked me!'); }}>connect</button>
</div>
);
}
<div className="ContextContainer">
<img className="CurrentContext" src={`data:image/svg+xml;utf8,${encodeURIComponent(props.diagram)}`} alt={props.label} />
</div>
)
}
function ControlPanel(props) {
return (
<div className='ControlPanel'>
<button onClick={() => { props.ws.current.send("cell1 parse") }}>start parsing in cell 1</button>
<button onClick={() => { props.ws.current.send("cell1 reset") }}>reset selections</button>
</div>
)
}
export default App;
dashboard/src/mgSlice.js
+ 15
− 15
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import { createSlice } from '@reduxjs/toolkit'
import {createSlice} from '@reduxjs/toolkit'
export const mgSlice = createSlice({
name: 'mg',
initialState: {
asts: [],
contexts: {},
},
reducers: {
addAst: (state, action) => {
state.asts = [action.payload, ...state.asts];
console.log("added ast, size is " + state.asts.length);
name: 'mg',
initialState: {
ast: {},
context: {},
},
setAstList: (state, action) => {
state.asts = action.payload.reverse();
console.log("set AST list, size is " + state.asts.length);
reducers: {
setAst: (state, action) => {
state.ast = action.payload;
console.log("set AST");
},
setContext: (state, action) => {
state.context = action.payload;
console.log("set context");
}
}
}
})
export const { addAst, setAstList } = mgSlice.actions
export const {setAst, setContext} = mgSlice.actions
export default mgSlice.reducer
\ No newline at end of file
gradle.properties
+ 3
− 3
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relast_version = 0.3.0-137
relast2uml_version = 1.1.0
dumpAst_version = 2.0.2-dev-91
jupyter_version = 5.8.2
assertj_version = 3.22.0
grammar2uml_version = 0.2.1
grammar2uml_version = 0.2.5-21
jastaddgradle_version = 1.14.5
javalin_version = 4.6.3
javalin_version = 4.6.4
protobuf_version = 4.0.0-rc-2
protobuf_plugin_version = 0.8.18
material/mg-demo-slides.odp 0 → 100644
+ 0
− 0
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File added
material/mg-demo-slides.pdf 0 → 100644
+ 0
− 0
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File added
pages/docs/sorting.md → pages/docs/acsos.md
+ 0
− 0
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File moved
pages/docs/index.md
+ 2
− 2
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......@@ -17,9 +17,9 @@ is parsed.
## Use cases
- Very simple [Load-Unload grammar](load.md) taken from the original paper [^1] to show a minimal proof-of-concept.
- A [robotic use case](sorting.md) sorting dynamically appearing objects into boxes by colour.
- A [robotic use case](acsos.md) sorting dynamically appearing objects into boxes by colour ([ACSOS demo]()https://2022.acsos.org/details/acsos-2022-posters-and-demos/2/Specifying-Reactive-Robotic-Applications-With-Reference-Attribute-Motion-Grammars).
![type:video](https://www.youtube.com/embed/KBuFVsKjA1Q)
- A similar robotic use case, but with another input "teaching" where to put the objects and different time
## Bibliogaphy
[^1]: Dantam, N., Stilman, M., 2013. The Motion Grammar: Analysis of a Linguistic Method for Robot Control. IEEE Trans. Robot. 29, 704–718. https://doi.org/10.1109/TRO.2013.2239553
......
pages/docs/sorting/AST.md 0 → 100644
+ 212
− 0
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AST-000-2022.07.18.17.43.35.270-initial.svg
AST-001-2022.07.18.17.43.39.588-parseEmptyTable.svg
AST-002-2022.07.18.17.43.47.871-parseWait.svg
AST-003-2022.07.18.17.43.48.060-parseWaitForFullTable.svg
AST-004-2022.07.18.17.43.48.272-parseEmptyTable.svg
AST-005-2022.07.18.17.43.56.518-parseWait.svg
AST-006-2022.07.18.17.43.56.718-parseWaitForFullTable.svg
AST-007-2022.07.18.17.43.56.889-parseEmptyTable.svg
AST-008-2022.07.18.17.44.05.105-parseWait.svg
AST-009-2022.07.18.17.44.05.370-parseWaitForFullTable.svg
AST-010-2022.07.18.17.44.05.769-parseObjectAtWrongPlace.svg
AST-011-2022.07.18.17.44.06.152-parseRobotIsReadyToPickToken.svg
AST-012-2022.07.18.17.44.06.526-parseRobotIsReallyReadyToPick.svg
AST-013-2022.07.18.17.44.06.859-parseRobotIsReadyToPick.svg
AST-014-2022.07.18.17.44.07.284-parsePickUpObject.svg
AST-015-2022.07.18.17.44.07.807-parseRobotIsNotReadyToDropToken.svg
AST-016-2022.07.18.17.44.16.137-parseWait.svg
AST-017-2022.07.18.17.44.16.336-parseRobotIsNotReadyToDropToken.svg
AST-018-2022.07.18.17.44.24.593-parseWait.svg
AST-019-2022.07.18.17.44.24.996-parseRobotIsNotReadyToDropToken.svg
AST-020-2022.07.18.17.44.33.736-parseWait.svg
AST-021-2022.07.18.17.44.34.344-parseRobotIsReadyToDropToken.svg
AST-022-2022.07.18.17.44.34.795-parseRobotIsReallyReadyToDrop.svg
AST-023-2022.07.18.17.44.35.148-parseRobotIsReadyToDrop.svg
AST-024-2022.07.18.17.44.35.616-parseRobotIsNotReadyToDrop.svg
AST-025-2022.07.18.17.44.36.052-parseRobotIsReadyToDrop.svg
AST-026-2022.07.18.17.44.36.493-parseRobotIsNotReadyToDrop.svg
AST-027-2022.07.18.17.44.36.798-parseRobotIsReadyToDrop.svg
AST-028-2022.07.18.17.44.37.173-parseRobotIsNotReadyToDrop.svg
AST-029-2022.07.18.17.44.37.512-parseRobotIsReadyToDrop.svg
AST-030-2022.07.18.17.44.37.872-parseRightPlace.svg
AST-031-2022.07.18.17.44.38.308-parseDropObjectAtRightPlace.svg
AST-032-2022.07.18.17.44.38.799-parseMoveObjectToCorrectPlace.svg
AST-033-2022.07.18.17.44.39.211-parseObjectAtWrongPlace.svg
AST-034-2022.07.18.17.44.39.524-parseRobotIsNotReadyToPickToken.svg
AST-035-2022.07.18.17.44.47.970-parseWait.svg
AST-036-2022.07.18.17.44.48.142-parseRobotIsNotReadyToPickToken.svg
AST-037-2022.07.18.17.44.56.356-parseWait.svg
AST-038-2022.07.18.17.44.56.572-parseRobotIsReadyToPickToken.svg
AST-039-2022.07.18.17.44.56.825-parseRobotIsReallyReadyToPick.svg
AST-040-2022.07.18.17.44.57.094-parseRobotIsReadyToPick.svg
AST-041-2022.07.18.17.44.57.328-parseRobotIsNotReadyToPick.svg
AST-042-2022.07.18.17.44.57.607-parseRobotIsReadyToPick.svg
AST-043-2022.07.18.17.44.57.896-parseRobotIsNotReadyToPick.svg
AST-044-2022.07.18.17.44.58.169-parseRobotIsReadyToPick.svg
AST-045-2022.07.18.17.44.58.456-parsePickUpObject.svg
AST-046-2022.07.18.17.44.58.783-parseRobotIsNotReadyToDropToken.svg
AST-047-2022.07.18.17.45.07.121-parseWait.svg
AST-048-2022.07.18.17.45.07.305-parseRobotIsNotReadyToDropToken.svg
AST-049-2022.07.18.17.45.15.564-parseWait.svg
AST-050-2022.07.18.17.45.15.800-parseRobotIsNotReadyToDropToken.svg
AST-051-2022.07.18.17.45.24.125-parseWait.svg
AST-052-2022.07.18.17.45.24.328-parseRobotIsReadyToDropToken.svg
AST-053-2022.07.18.17.45.24.535-parseRobotIsReallyReadyToDrop.svg
AST-054-2022.07.18.17.45.24.828-parseRobotIsReadyToDrop.svg
AST-055-2022.07.18.17.45.25.133-parseRobotIsNotReadyToDrop.svg
AST-056-2022.07.18.17.45.25.385-parseRobotIsReadyToDrop.svg
AST-057-2022.07.18.17.45.25.689-parseRobotIsNotReadyToDrop.svg
AST-058-2022.07.18.17.45.25.998-parseRobotIsReadyToDrop.svg
AST-059-2022.07.18.17.45.26.299-parseRobotIsNotReadyToDrop.svg
AST-060-2022.07.18.17.45.26.574-parseRobotIsReadyToDrop.svg
AST-061-2022.07.18.17.45.26.864-parseRightPlace.svg
AST-062-2022.07.18.17.45.27.156-parseDropObjectAtRightPlace.svg
AST-063-2022.07.18.17.45.27.617-parseMoveObjectToCorrectPlace.svg
AST-064-2022.07.18.17.45.27.991-parseObjectAtWrongPlace.svg
AST-065-2022.07.18.17.45.28.330-parseRobotIsNotReadyToPickToken.svg
AST-066-2022.07.18.17.45.36.597-parseWait.svg
AST-067-2022.07.18.17.45.37.022-parseRobotIsNotReadyToPickToken.svg
AST-068-2022.07.18.17.45.45.385-parseWait.svg
AST-069-2022.07.18.17.45.45.808-parseRobotIsNotReadyToPickToken.svg
AST-070-2022.07.18.17.45.54.253-parseWait.svg
AST-071-2022.07.18.17.45.54.524-parseRobotIsReadyToPickToken.svg
AST-072-2022.07.18.17.45.54.815-parseRobotIsReallyReadyToPick.svg
AST-073-2022.07.18.17.45.55.141-parseRobotIsReadyToPick.svg
AST-074-2022.07.18.17.45.55.508-parseRobotIsNotReadyToPick.svg
AST-075-2022.07.18.17.45.55.795-parseRobotIsReadyToPick.svg
AST-076-2022.07.18.17.45.56.159-parseRobotIsNotReadyToPick.svg
AST-077-2022.07.18.17.45.56.569-parseRobotIsReadyToPick.svg
AST-078-2022.07.18.17.45.56.870-parseRobotIsNotReadyToPick.svg
AST-079-2022.07.18.17.45.57.191-parseRobotIsReadyToPick.svg
AST-080-2022.07.18.17.45.57.480-parsePickUpObject.svg
AST-081-2022.07.18.17.45.57.813-parseRobotIsNotReadyToDropToken.svg
AST-082-2022.07.18.17.46.06.099-parseWait.svg
AST-083-2022.07.18.17.46.06.350-parseRobotIsNotReadyToDropToken.svg
AST-084-2022.07.18.17.46.14.753-parseWait.svg
AST-085-2022.07.18.17.46.15.104-parseRobotIsNotReadyToDropToken.svg
AST-086-2022.07.18.17.46.23.512-parseWait.svg
AST-087-2022.07.18.17.46.23.794-parseRobotIsReadyToDropToken.svg
AST-088-2022.07.18.17.46.24.101-parseRobotIsReallyReadyToDrop.svg
AST-089-2022.07.18.17.46.24.486-parseRobotIsReadyToDrop.svg
AST-090-2022.07.18.17.46.24.794-parseRobotIsNotReadyToDrop.svg
AST-091-2022.07.18.17.46.25.117-parseRobotIsReadyToDrop.svg
AST-092-2022.07.18.17.46.25.461-parseRobotIsNotReadyToDrop.svg
AST-093-2022.07.18.17.46.25.965-parseRobotIsReadyToDrop.svg
AST-094-2022.07.18.17.46.26.445-parseRobotIsNotReadyToDrop.svg
AST-095-2022.07.18.17.46.26.875-parseRobotIsReadyToDrop.svg
AST-096-2022.07.18.17.46.27.270-parseRightPlace.svg
AST-097-2022.07.18.17.46.27.571-parseDropObjectAtRightPlace.svg
AST-098-2022.07.18.17.46.28.040-parseMoveObjectToCorrectPlace.svg
AST-099-2022.07.18.17.46.28.378-parseObjectAtWrongPlace.svg
AST-100-2022.07.18.17.46.28.783-parseRobotIsNotReadyToPickToken.svg
AST-101-2022.07.18.17.46.37.214-parseWait.svg
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