delay(5.00)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
setblending(0.1)
MoveJoints(-80.701, -3.832, 1.095, -36.415, -15.905, 14.479)
delay (0.250)
MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)
// Gripperopen
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
setblending(0.1)
gripperopen
delay(0.250)

// Bauble 1

MoveJoints(-42.562, 26.751, -0.845, -55.07, -39.467, 47.52)
MoveJoints(-43.192, 54.586, 8.18, -35.303, -66.627, 15.336)

SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(-44.299, 59.435, 5.785, -35.875, -68.906, 14.219)
delay (0.250)
MoveJoints(-44.314, 62.544, 4.875, -35.419, -70.697, 12.859)
delay (0.250)
gripperclose
delay (0.250)

MoveJoints(-44.314, 62.544, 4.875, -35.419, -70.697, 12.859)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(-44.299, 59.435, 5.785, -35.875, -68.906, 14.219)
MoveJoints(-44.147, 36.689, -3.454, -50.344, -45.015, 40.09)
MoveJoints(-1.347, 34.712, -27.593, -10.993, -34.75, 60.354)
MoveJoints(17.193, 22.584, -27.593, 2.207, -24.775, 60.354)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)

MoveJoints(18.093, 17.409, -27.593, 2.207, -24.775, 60.354)
MoveJoints(27.281, 17.409, -27.593, 2.207, -24.775, 60.354)
MoveJoints(22.771, 17.479, -27.401, 3.152, -43.195, 59.215)
MoveJoints(25.906, 17.479, -15.053, -9.868, -52.45, 59.215)
delay (0.500)
gripperopen
delay (0.500)
MoveJoints(5.888, 17.479, -15.053, -9.868, -52.45, 59.215)

// Bauble 2

SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)
MoveJoints(-33.239, 49.459, 24.446, 161.56, 72.71, -173.966)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(-33.21, 54.551, 23.59, 161.953, 76.731, -175.347)
delay (0.250)
gripperclose
delay (0.250)
MoveJoints(-33.294, 40.747, 24.18, 160.342, 64.228, -170.799)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(17.897, 8.789, -40.121, 19.659, 15.392, 25.768)
MoveJoints(44.372, 24.906, -59.111, 19.659, 15.392, 25.768)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(44.372, 27.435, -59.111, 19.659, 15.392, 12.398)
delay (0.250)
gripperopen
delay (0.500)
MoveJoints(44.372, 24.906, -59.111, 19.659, 15.392, 25.768)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)

MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)

// Bauble 3
MoveJoints(-23.607, 44.631, 32.329, 164.386, 74.08, -176.046)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(-23.648, 50.478, 31.744, 164.678, 79.153, -177.481)
delay (0.250)
gripperclose
delay (0.250)
MoveJoints(-23.541, 35.934, 31.466, 163.463, 64.886, -173.243)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(2.166, 36.313, -73.849, 98.355, 14.754, -99.04)
MoveJoints(17.751, 54.688, -73.849, 98.355, 14.754, -99.04)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(17.751, 55.378, -80.131, 95.775, 38.694, -41.09)
delay (0.250)
gripperopen
delay (0.500)
MoveJoints(2.166, 36.313, -73.849, 98.355, 14.754, -99.04)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)

// Bauble 4

MoveJoints(-17.174, 46.032, 41.706, -17.128, -92.846, 0.669)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(-16.875, 52.478, 38.851, -16.913, -96.279, -0.388)
delay (0.250)
gripperclose
delay (0.250)
MoveJoints(-17.174, 46.032, 41.706, -17.128, -92.846, 0.669)
MoveJoints(-17.343, 32.822, 43.459, -17.454, -81.91, 4.095)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)

MoveJoints(12.222, 19.056, 33.846, -17.742, -83.281, 16.022)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(12.222, 37.206, 33.846, -29.652, -99.421, 64.972)
delay (0.250)
gripperopen
delay (0.500)
MoveJoints(12.222, 19.056, 33.846, -17.742, -83.281, 16.022)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)

// Bauble 5

MoveJoints(-42.562, 26.751, -0.845, -55.07, -39.467, 47.52)
MoveJoints(-2.107, 41.418, 42.157, -9.413, -83.093, 1.05)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(-2.116, 47.794, 41.078, -9.357, -88.319, 0.184)
delay (0.250)
gripperclose
delay (0.250)
MoveJoints(-2.094, 33.483, 42.353, -9.643, -75.46, 2.35)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(47.592, -14.156, 40.683, 78.944, -67.798, -61.421)

MoveJoints(72.567, -14.156, 40.683, 78.944, -67.798, -61.421)
SetJointAcc(10.000)
SetJointVel(10.000)
SetCartAcc(10.000)
SetCartLinVel(10.000)
MoveJoints(69.181, -1.614, 37.188, 73.251, -67.15, -51.159)
delay (0.250)
gripperopen
delay (0.500)
MoveJoints(72.567, -14.156, 40.683, 78.944, -67.798, -61.421)
SetJointAcc(50.000)
SetJointVel(50.000)
SetCartAcc(50.000)
SetCartLinVel(50.000)
MoveJoints(-2.677, -19.125, -0.026, -4.341, -22.012, -3.335)


delay (0.250)