{"species": [{"id": "gap2", "structure": "gap2 10\nt(1) | other | wpca | (-10,50,-20) | load\nt(2) | pick&place | p1 | feeder | pick&place; grip(gripper-type=2finger,range=60.0); feed(subtype=feeds(body-case))\nt(3) | pick&place | p2 | feeder | pick&place; grip(gripper-type=2finger,range=40.0); feed(subtype=feeds(tape-roll))\nt(4) | pick&place | p3 | feeder | pick&place; grip(gripper-type=vacuum); feed(subtype=feeds(body-case))\nt(5) | pick&place | p4 | feeder | pick&place; grip(gripper-type=screw-driver); feed(subtype=feeds(screw))\nt(6) | other | wpca+p1+p2+p3+p4 | | unload"}, {"id": "r3", "structure": "r3 robot | move(subtype=rotational,direction=vertical,range=220.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0) | | circular-, triangular-, straight-, diamond-"}, {"id": "r1", "structure": "r1 robot | move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=vertical,range=125.0) | | circular-, triangular-, straight-, diamond-"}, {"id": "r2", "structure": "r2 robot | move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0) | | circular-, triangular-, straight-, diamond-"}, {"id": "a1", "structure": "a1 axis | move(subtype=linear,direction=horizontal,range=150.0), hold, base-hold | | square-, triangular-, straight-"}, {"id": "a4", "structure": "a4 axis | move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), hold | base-hold | square+, square-"}, {"id": "a7", "structure": "a7 axis | move(subtype=linear,direction=horizontal,range=150.0) | hold | square+, circular-"}, {"id": "f1", "structure": "f1 feeder | feed(subtype=feeds(body-case)) | | triangular+"}, {"id": "f2", "structure": "f2 feeder | feed(subtype=feeds(tape-roll)) | | triangular+"}, {"id": "f3", "structure": "f3 feeder | feed(subtype=feeds(body-case)) | | triangular+"}, {"id": "f4", "structure": "f4 feeder | feed(subtype=feeds(screw)) | | triangular+"}, {"id": "g1", "structure": "g1 gripper/2finger | grip(gripper-type=2finger,range=70.0) | | circular+"}, {"id": "g2", "structure": "g2 gripper/2finger | grip(gripper-type=2finger,range=55.0) | | circular+"}, {"id": "g3", "structure": "g3 gripper/vacuum | open-close, grip(gripper-type=vacuum) | | circular+"}, {"id": "g4", "structure": "g4 gripper/screw-driver | open-close, grip(gripper-type=screw-driver) | | circular+"}, {"id": "pd1", "structure": "pd1 positioning-device | position-carrier(accuracy=1) | | straight+, oval-"}, {"id": "pd2", "structure": "pd2 positioning-device | position-carrier(accuracy=2) | | straight+, oval-"}, {"id": "pd3", "structure": "pd3 positioning-device | position-carrier(accuracy=3) | | straight+, oval-"}, {"id": "pd4", "structure": "pd4 positioning-device | position-carrier(accuracy=3) | | straight+, oval-"}, {"id": "unassigned-human", "structure": "unassigned-human human | load, unload | |"}, {"id": "gap2->t(2)[r3]", "structure": "task=gap2->t(2); coalition=r3; provided-skills=move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[r3]", "structure": "task=gap2->t(3); coalition=r3; provided-skills=move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[r3]", "structure": "task=gap2->t(4); coalition=r3; provided-skills=move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[r3]", "structure": "task=gap2->t(5); coalition=r3; provided-skills=move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[r1]", "structure": "task=gap2->t(2); coalition=r1; provided-skills=move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[r1]", "structure": "task=gap2->t(3); coalition=r1; provided-skills=move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[r1]", "structure": "task=gap2->t(4); coalition=r1; provided-skills=move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[r1]", "structure": "task=gap2->t(5); coalition=r1; provided-skills=move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[r2]", "structure": "task=gap2->t(2); coalition=r2; provided-skills=move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[r2]", "structure": "task=gap2->t(3); coalition=r2; provided-skills=move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[r2]", "structure": "task=gap2->t(4); coalition=r2; provided-skills=move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[r2]", "structure": "task=gap2->t(5); coalition=r2; provided-skills=move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[a1]", "structure": "task=gap2->t(2); coalition=a1; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(3)[a1]", "structure": "task=gap2->t(3); coalition=a1; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0) | move(direction=vertical); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(4)[a1]", "structure": "task=gap2->t(4); coalition=a1; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(5)[a1]", "structure": "task=gap2->t(5); coalition=a1; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver) | move(direction=vertical); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(2)[a4]", "structure": "task=gap2->t(2); coalition=a4; provided-skills=hold, move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=square+, square-"}, {"id": "gap2->t(3)[a4]", "structure": "task=gap2->t(3); coalition=a4; provided-skills=hold, move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=square+, square-"}, {"id": "gap2->t(4)[a4]", "structure": "task=gap2->t(4); coalition=a4; provided-skills=hold, move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=square+, square-"}, {"id": "gap2->t(5)[a4]", "structure": "task=gap2->t(5); coalition=a4; provided-skills=hold, move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=square+, square-"}, {"id": "gap2->t(2)[a7]", "structure": "task=gap2->t(2); coalition=a7; provided-skills=move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0) | hold | move(direction=vertical); open-interfaces=circular-, square+"}, {"id": "gap2->t(3)[a7]", "structure": "task=gap2->t(3); coalition=a7; provided-skills=move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0) | hold | move(direction=vertical); open-interfaces=circular-, square+"}, {"id": "gap2->t(4)[a7]", "structure": "task=gap2->t(4); coalition=a7; provided-skills=move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum) | hold | move(direction=vertical); open-interfaces=circular-, square+"}, {"id": "gap2->t(5)[a7]", "structure": "task=gap2->t(5); coalition=a7; provided-skills=move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver) | hold | move(direction=vertical); open-interfaces=circular-, square+"}, {"id": "gap2->t(2)[f1]", "structure": "task=gap2->t(2); coalition=f1; provided-skills=feed(subtype=feeds(body-case)); required-ops=grip(gripper-type=2finger,range=60.0) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(4)[f1]", "structure": "task=gap2->t(4); coalition=f1; provided-skills=feed(subtype=feeds(body-case)); required-ops=grip(gripper-type=vacuum) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(3)[f2]", "structure": "task=gap2->t(3); coalition=f2; provided-skills=feed(subtype=feeds(tape-roll)); required-ops=grip(gripper-type=2finger,range=40.0) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(2)[f3]", "structure": "task=gap2->t(2); coalition=f3; provided-skills=feed(subtype=feeds(body-case)); required-ops=grip(gripper-type=2finger,range=60.0) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(4)[f3]", "structure": "task=gap2->t(4); coalition=f3; provided-skills=feed(subtype=feeds(body-case)); required-ops=grip(gripper-type=vacuum) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(5)[f4]", "structure": "task=gap2->t(5); coalition=f4; provided-skills=feed(subtype=feeds(screw)); required-ops=grip(gripper-type=screw-driver) | move, move(direction=vertical); open-interfaces=triangular+"}, {"id": "gap2->t(2)[g1]", "structure": "task=gap2->t(2); coalition=g1; provided-skills=grip(gripper-type=2finger,range=70.0); required-ops=feed(subtype=feeds(body-case)) | move, move(direction=vertical); open-interfaces=circular+"}, {"id": "gap2->t(3)[g1]", "structure": "task=gap2->t(3); coalition=g1; provided-skills=grip(gripper-type=2finger,range=70.0); required-ops=feed(subtype=feeds(tape-roll)) | move, move(direction=vertical); open-interfaces=circular+"}, {"id": "gap2->t(3)[g2]", "structure": "task=gap2->t(3); coalition=g2; provided-skills=grip(gripper-type=2finger,range=55.0); required-ops=feed(subtype=feeds(tape-roll)) | move, move(direction=vertical); open-interfaces=circular+"}, {"id": "gap2->t(4)[g3]", "structure": "task=gap2->t(4); coalition=g3; provided-skills=grip(gripper-type=vacuum), open-close; required-ops=feed(subtype=feeds(body-case)) | move, move(direction=vertical); open-interfaces=circular+"}, {"id": "gap2->t(5)[g4]", "structure": "task=gap2->t(5); coalition=g4; provided-skills=grip(gripper-type=screw-driver), open-close; required-ops=feed(subtype=feeds(screw)) | move, move(direction=vertical); open-interfaces=circular+"}, {"id": "gap2->t(1)[unassigned-human]", "structure": "task=gap2->t(1); coalition=unassigned-human; provided-skills=load, unload; required-ops=none; open-interfaces="}, {"id": "gap2->t(6)[unassigned-human]", "structure": "task=gap2->t(6); coalition=unassigned-human; provided-skills=load, unload; required-ops=none; open-interfaces="}, {"id": "gap2->t(2)[f1,r3]", "structure": "task=gap2->t(2); coalition=f1, r3; provided-skills=feed(subtype=feeds(body-case)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[f3,r3]", "structure": "task=gap2->t(2); coalition=f3, r3; provided-skills=feed(subtype=feeds(body-case)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[g1,r3]", "structure": "task=gap2->t(2); coalition=g1, r3; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[f2,r3]", "structure": "task=gap2->t(3); coalition=f2, r3; provided-skills=feed(subtype=feeds(tape-roll)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(3)[g1,r3]", "structure": "task=gap2->t(3); coalition=g1, r3; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[g2,r3]", "structure": "task=gap2->t(3); coalition=g2, r3; provided-skills=grip(gripper-type=2finger,range=55.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[f1,r3]", "structure": "task=gap2->t(4); coalition=f1, r3; provided-skills=feed(subtype=feeds(body-case)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[f3,r3]", "structure": "task=gap2->t(4); coalition=f3, r3; provided-skills=feed(subtype=feeds(body-case)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[g3,r3]", "structure": "task=gap2->t(4); coalition=g3, r3; provided-skills=grip(gripper-type=vacuum), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0), open-close; required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[f4,r3]", "structure": "task=gap2->t(5); coalition=f4, r3; provided-skills=feed(subtype=feeds(screw)), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(5)[g4,r3]", "structure": "task=gap2->t(5); coalition=g4, r3; provided-skills=grip(gripper-type=screw-driver), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0), open-close; required-ops=feed(subtype=feeds(screw)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[f1,r1]", "structure": "task=gap2->t(2); coalition=f1, r1; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[f3,r1]", "structure": "task=gap2->t(2); coalition=f3, r1; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[g1,r1]", "structure": "task=gap2->t(2); coalition=g1, r1; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[f2,r1]", "structure": "task=gap2->t(3); coalition=f2, r1; provided-skills=feed(subtype=feeds(tape-roll)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(3)[g1,r1]", "structure": "task=gap2->t(3); coalition=g1, r1; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[g2,r1]", "structure": "task=gap2->t(3); coalition=g2, r1; provided-skills=grip(gripper-type=2finger,range=55.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[f1,r1]", "structure": "task=gap2->t(4); coalition=f1, r1; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[f3,r1]", "structure": "task=gap2->t(4); coalition=f3, r1; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[g3,r1]", "structure": "task=gap2->t(4); coalition=g3, r1; provided-skills=grip(gripper-type=vacuum), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0), open-close; required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[f4,r1]", "structure": "task=gap2->t(5); coalition=f4, r1; provided-skills=feed(subtype=feeds(screw)), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(5)[g4,r1]", "structure": "task=gap2->t(5); coalition=g4, r1; provided-skills=grip(gripper-type=screw-driver), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0), open-close; required-ops=feed(subtype=feeds(screw)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[f1,r2]", "structure": "task=gap2->t(2); coalition=f1, r2; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[f3,r2]", "structure": "task=gap2->t(2); coalition=f3, r2; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(2)[g1,r2]", "structure": "task=gap2->t(2); coalition=g1, r2; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[f2,r2]", "structure": "task=gap2->t(3); coalition=f2, r2; provided-skills=feed(subtype=feeds(tape-roll)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(3)[g1,r2]", "structure": "task=gap2->t(3); coalition=g1, r2; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(3)[g2,r2]", "structure": "task=gap2->t(3); coalition=g2, r2; provided-skills=grip(gripper-type=2finger,range=55.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(4)[f1,r2]", "structure": "task=gap2->t(4); coalition=f1, r2; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[f3,r2]", "structure": "task=gap2->t(4); coalition=f3, r2; provided-skills=feed(subtype=feeds(body-case)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(4)[g3,r2]", "structure": "task=gap2->t(4); coalition=g3, r2; provided-skills=grip(gripper-type=vacuum), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0), open-close; required-ops=feed(subtype=feeds(body-case)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(5)[f4,r2]", "structure": "task=gap2->t(5); coalition=f4, r2; provided-skills=feed(subtype=feeds(screw)), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=grip(gripper-type=screw-driver); open-interfaces=circular-, diamond-, straight-"}, {"id": "gap2->t(5)[g4,r2]", "structure": "task=gap2->t(5); coalition=g4, r2; provided-skills=grip(gripper-type=screw-driver), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0), open-close; required-ops=feed(subtype=feeds(screw)); open-interfaces=diamond-, straight-, triangular-"}, {"id": "gap2->t(2)[a1,a4]", "structure": "task=gap2->t(2); coalition=a1, a4; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(2)[a1,f1]", "structure": "task=gap2->t(2); coalition=a1, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(2)[a1,f3]", "structure": "task=gap2->t(2); coalition=a1, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(3)[a1,a4]", "structure": "task=gap2->t(3); coalition=a1, a4; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(3)[a1,f2]", "structure": "task=gap2->t(3); coalition=a1, f2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=40.0) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(4)[a1,a4]", "structure": "task=gap2->t(4); coalition=a1, a4; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(4)[a1,f1]", "structure": "task=gap2->t(4); coalition=a1, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(4)[a1,f3]", "structure": "task=gap2->t(4); coalition=a1, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(5)[a1,a4]", "structure": "task=gap2->t(5); coalition=a1, a4; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=square-, straight-, triangular-"}, {"id": "gap2->t(5)[a1,f4]", "structure": "task=gap2->t(5); coalition=a1, f4; provided-skills=base-hold, feed(subtype=feeds(screw)), hold, move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=screw-driver) | move(direction=vertical); open-interfaces=square-, straight-"}, {"id": "gap2->t(2)[a1,a7]", "structure": "task=gap2->t(2); coalition=a1, a7; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(2)[a4,a7]", "structure": "task=gap2->t(2); coalition=a4, a7; provided-skills=hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, square+"}, {"id": "gap2->t(2)[a7,g1]", "structure": "task=gap2->t(2); coalition=a7, g1; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | hold | move(direction=vertical); open-interfaces=square+"}, {"id": "gap2->t(3)[a1,a7]", "structure": "task=gap2->t(3); coalition=a1, a7; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0) | move(direction=vertical); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(3)[a4,a7]", "structure": "task=gap2->t(3); coalition=a4, a7; provided-skills=hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, square+"}, {"id": "gap2->t(3)[a7,g1]", "structure": "task=gap2->t(3); coalition=a7, g1; provided-skills=grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | hold | move(direction=vertical); open-interfaces=square+"}, {"id": "gap2->t(3)[a7,g2]", "structure": "task=gap2->t(3); coalition=a7, g2; provided-skills=grip(gripper-type=2finger,range=55.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | hold | move(direction=vertical); open-interfaces=square+"}, {"id": "gap2->t(4)[a1,a7]", "structure": "task=gap2->t(4); coalition=a1, a7; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(4)[a4,a7]", "structure": "task=gap2->t(4); coalition=a4, a7; provided-skills=hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=circular-, square+"}, {"id": "gap2->t(4)[a7,g3]", "structure": "task=gap2->t(4); coalition=a7, g3; provided-skills=grip(gripper-type=vacuum), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=feed(subtype=feeds(body-case)) | hold | move(direction=vertical); open-interfaces=square+"}, {"id": "gap2->t(5)[a1,a7]", "structure": "task=gap2->t(5); coalition=a1, a7; provided-skills=base-hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver) | move(direction=vertical); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(5)[a4,a7]", "structure": "task=gap2->t(5); coalition=a4, a7; provided-skills=hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=circular-, square+"}, {"id": "gap2->t(5)[a7,g4]", "structure": "task=gap2->t(5); coalition=a7, g4; provided-skills=grip(gripper-type=screw-driver), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=feed(subtype=feeds(screw)) | hold | move(direction=vertical); open-interfaces=square+"}, {"id": "gap2->t(2)[f1,g1,r3]", "structure": "task=gap2->t(2); coalition=f1, g1, r3; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[f3,g1,r3]", "structure": "task=gap2->t(2); coalition=f3, g1, r3; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g1,r3]", "structure": "task=gap2->t(3); coalition=f2, g1, r3; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=70.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g2,r3]", "structure": "task=gap2->t(3); coalition=f2, g2, r3; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=55.0), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f1,g3,r3]", "structure": "task=gap2->t(4); coalition=f1, g3, r3; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f3,g3,r3]", "structure": "task=gap2->t(4); coalition=f3, g3, r3; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(5)[f4,g4,r3]", "structure": "task=gap2->t(5); coalition=f4, g4, r3; provided-skills=feed(subtype=feeds(screw)), grip(gripper-type=screw-driver), move(subtype=rotational,direction=horizontal,range=280.0), move(subtype=rotational,direction=horizontal,range=60.0), move(subtype=rotational,direction=vertical,range=220.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[f1,g1,r1]", "structure": "task=gap2->t(2); coalition=f1, g1, r1; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[f3,g1,r1]", "structure": "task=gap2->t(2); coalition=f3, g1, r1; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g1,r1]", "structure": "task=gap2->t(3); coalition=f2, g1, r1; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g2,r1]", "structure": "task=gap2->t(3); coalition=f2, g2, r1; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=55.0), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f1,g3,r1]", "structure": "task=gap2->t(4); coalition=f1, g3, r1; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f3,g3,r1]", "structure": "task=gap2->t(4); coalition=f3, g3, r1; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(5)[f4,g4,r1]", "structure": "task=gap2->t(5); coalition=f4, g4, r1; provided-skills=feed(subtype=feeds(screw)), grip(gripper-type=screw-driver), move(subtype=linear,direction=horizontal,range=220.0), move(subtype=linear,direction=horizontal,range=225.0), move(subtype=linear,direction=vertical,range=125.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[f1,g1,r2]", "structure": "task=gap2->t(2); coalition=f1, g1, r2; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[f3,g1,r2]", "structure": "task=gap2->t(2); coalition=f3, g1, r2; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g1,r2]", "structure": "task=gap2->t(3); coalition=f2, g1, r2; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=70.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(3)[f2,g2,r2]", "structure": "task=gap2->t(3); coalition=f2, g2, r2; provided-skills=feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=55.0), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0); required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f1,g3,r2]", "structure": "task=gap2->t(4); coalition=f1, g3, r2; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(4)[f3,g3,r2]", "structure": "task=gap2->t(4); coalition=f3, g3, r2; provided-skills=feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(5)[f4,g4,r2]", "structure": "task=gap2->t(5); coalition=f4, g4, r2; provided-skills=feed(subtype=feeds(screw)), grip(gripper-type=screw-driver), move(subtype=linear,direction=vertical,range=300.0), move(subtype=rotational,direction=horizontal,range=180.0), move(subtype=rotational,direction=horizontal,range=90.0), open-close; required-ops=none; open-interfaces=diamond-, straight-"}, {"id": "gap2->t(2)[a1,a4,f1]", "structure": "task=gap2->t(2); coalition=a1, a4, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=square-, straight-"}, {"id": "gap2->t(2)[a1,a4,f3]", "structure": "task=gap2->t(2); coalition=a1, a4, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=square-, straight-"}, {"id": "gap2->t(3)[a1,a4,f2]", "structure": "task=gap2->t(3); coalition=a1, a4, f2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=40.0); open-interfaces=square-, straight-"}, {"id": "gap2->t(4)[a1,a4,f1]", "structure": "task=gap2->t(4); coalition=a1, a4, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=vacuum); open-interfaces=square-, straight-"}, {"id": "gap2->t(4)[a1,a4,f3]", "structure": "task=gap2->t(4); coalition=a1, a4, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=vacuum); open-interfaces=square-, straight-"}, {"id": "gap2->t(5)[a1,a4,f4]", "structure": "task=gap2->t(5); coalition=a1, a4, f4; provided-skills=base-hold, feed(subtype=feeds(screw)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=screw-driver); open-interfaces=square-, straight-"}, {"id": "gap2->t(2)[a1,a7,f1]", "structure": "task=gap2->t(2); coalition=a1, a7, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(2)[a1,a7,f3]", "structure": "task=gap2->t(2); coalition=a1, a7, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=60.0) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(2)[a1,a7,g1]", "structure": "task=gap2->t(2); coalition=a1, a7, g1; provided-skills=base-hold, grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(body-case)) | move(direction=vertical); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(2)[a1,a4,a7]", "structure": "task=gap2->t(2); coalition=a1, a4, a7; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(2)[a4,a7,g1]", "structure": "task=gap2->t(2); coalition=a4, a7, g1; provided-skills=grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(body-case)); open-interfaces=square+"}, {"id": "gap2->t(3)[a1,a7,f2]", "structure": "task=gap2->t(3); coalition=a1, a7, f2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=2finger,range=40.0) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(3)[a1,a7,g1]", "structure": "task=gap2->t(3); coalition=a1, a7, g1; provided-skills=base-hold, grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | move(direction=vertical); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(3)[a1,a7,g2]", "structure": "task=gap2->t(3); coalition=a1, a7, g2; provided-skills=base-hold, grip(gripper-type=2finger,range=55.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=feed(subtype=feeds(tape-roll)) | move(direction=vertical); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(3)[a1,a4,a7]", "structure": "task=gap2->t(3); coalition=a1, a4, a7; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(tape-roll)) | grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(3)[a4,a7,g1]", "structure": "task=gap2->t(3); coalition=a4, a7, g1; provided-skills=grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(tape-roll)); open-interfaces=square+"}, {"id": "gap2->t(3)[a4,a7,g2]", "structure": "task=gap2->t(3); coalition=a4, a7, g2; provided-skills=grip(gripper-type=2finger,range=55.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=base-hold | feed(subtype=feeds(tape-roll)); open-interfaces=square+"}, {"id": "gap2->t(4)[a1,a7,f1]", "structure": "task=gap2->t(4); coalition=a1, a7, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(4)[a1,a7,f3]", "structure": "task=gap2->t(4); coalition=a1, a7, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=vacuum) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(4)[a1,a7,g3]", "structure": "task=gap2->t(4); coalition=a1, a7, g3; provided-skills=base-hold, grip(gripper-type=vacuum), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=feed(subtype=feeds(body-case)) | move(direction=vertical); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(4)[a1,a4,a7]", "structure": "task=gap2->t(4); coalition=a1, a4, a7; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(body-case)) | grip(gripper-type=vacuum); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(4)[a4,a7,g3]", "structure": "task=gap2->t(4); coalition=a4, a7, g3; provided-skills=grip(gripper-type=vacuum), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), open-close; required-ops=base-hold | feed(subtype=feeds(body-case)); open-interfaces=square+"}, {"id": "gap2->t(5)[a1,a7,f4]", "structure": "task=gap2->t(5); coalition=a1, a7, f4; provided-skills=base-hold, feed(subtype=feeds(screw)), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=grip(gripper-type=screw-driver) | move(direction=vertical); open-interfaces=circular-, straight-"}, {"id": "gap2->t(5)[a1,a7,g4]", "structure": "task=gap2->t(5); coalition=a1, a7, g4; provided-skills=base-hold, grip(gripper-type=screw-driver), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=feed(subtype=feeds(screw)) | move(direction=vertical); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(5)[a1,a4,a7]", "structure": "task=gap2->t(5); coalition=a1, a4, a7; provided-skills=base-hold, hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(screw)) | grip(gripper-type=screw-driver); open-interfaces=circular-, straight-, triangular-"}, {"id": "gap2->t(5)[a4,a7,g4]", "structure": "task=gap2->t(5); coalition=a4, a7, g4; provided-skills=grip(gripper-type=screw-driver), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), open-close; required-ops=base-hold | feed(subtype=feeds(screw)); open-interfaces=square+"}, {"id": "gap2->t(2)[a1,a7,f1,g1]", "structure": "task=gap2->t(2); coalition=a1, a7, f1, g1; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(2)[a1,a7,f3,g1]", "structure": "task=gap2->t(2); coalition=a1, a7, f3, g1; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(2)[a1,a4,a7,f1]", "structure": "task=gap2->t(2); coalition=a1, a4, a7, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, straight-"}, {"id": "gap2->t(2)[a1,a4,a7,f3]", "structure": "task=gap2->t(2); coalition=a1, a4, a7, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=60.0); open-interfaces=circular-, straight-"}, {"id": "gap2->t(2)[a1,a4,a7,g1]", "structure": "task=gap2->t(2); coalition=a1, a4, a7, g1; provided-skills=base-hold, grip(gripper-type=2finger,range=70.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(body-case)); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(3)[a1,a7,f2,g1]", "structure": "task=gap2->t(3); coalition=a1, a7, f2, g1; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=70.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(3)[a1,a7,f2,g2]", "structure": "task=gap2->t(3); coalition=a1, a7, f2, g2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=55.0), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0); required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(3)[a1,a4,a7,f2]", "structure": "task=gap2->t(3); coalition=a1, a4, a7, f2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=2finger,range=40.0); open-interfaces=circular-, straight-"}, {"id": "gap2->t(3)[a1,a4,a7,g1]", "structure": "task=gap2->t(3); coalition=a1, a4, a7, g1; provided-skills=base-hold, grip(gripper-type=2finger,range=70.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(3)[a1,a4,a7,g2]", "structure": "task=gap2->t(3); coalition=a1, a4, a7, g2; provided-skills=base-hold, grip(gripper-type=2finger,range=55.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=feed(subtype=feeds(tape-roll)); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(4)[a1,a7,f1,g3]", "structure": "task=gap2->t(4); coalition=a1, a7, f1, g3; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(4)[a1,a7,f3,g3]", "structure": "task=gap2->t(4); coalition=a1, a7, f3, g3; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(4)[a1,a4,a7,f1]", "structure": "task=gap2->t(4); coalition=a1, a4, a7, f1; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, straight-"}, {"id": "gap2->t(4)[a1,a4,a7,f3]", "structure": "task=gap2->t(4); coalition=a1, a4, a7, f3; provided-skills=base-hold, feed(subtype=feeds(body-case)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=vacuum); open-interfaces=circular-, straight-"}, {"id": "gap2->t(4)[a1,a4,a7,g3]", "structure": "task=gap2->t(4); coalition=a1, a4, a7, g3; provided-skills=base-hold, grip(gripper-type=vacuum), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), open-close; required-ops=feed(subtype=feeds(body-case)); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(5)[a1,a7,f4,g4]", "structure": "task=gap2->t(5); coalition=a1, a7, f4, g4; provided-skills=base-hold, feed(subtype=feeds(screw)), grip(gripper-type=screw-driver), hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), open-close; required-ops=move(direction=vertical); open-interfaces=straight-"}, {"id": "gap2->t(5)[a1,a4,a7,f4]", "structure": "task=gap2->t(5); coalition=a1, a4, a7, f4; provided-skills=base-hold, feed(subtype=feeds(screw)), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=grip(gripper-type=screw-driver); open-interfaces=circular-, straight-"}, {"id": "gap2->t(5)[a1,a4,a7,g4]", "structure": "task=gap2->t(5); coalition=a1, a4, a7, g4; provided-skills=base-hold, grip(gripper-type=screw-driver), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), open-close; required-ops=feed(subtype=feeds(screw)); open-interfaces=straight-, triangular-"}, {"id": "gap2->t(2)[a1,a4,a7,f1,g1]", "structure": "task=gap2->t(2); coalition=a1, a4, a7, f1, g1; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=none; open-interfaces=straight-"}, {"id": "gap2->t(2)[a1,a4,a7,f3,g1]", "structure": "task=gap2->t(2); coalition=a1, a4, a7, f3, g1; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=2finger,range=70.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=none; open-interfaces=straight-"}, {"id": "gap2->t(3)[a1,a4,a7,f2,g1]", "structure": "task=gap2->t(3); coalition=a1, a4, a7, f2, g1; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=70.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=none; open-interfaces=straight-"}, {"id": "gap2->t(3)[a1,a4,a7,f2,g2]", "structure": "task=gap2->t(3); coalition=a1, a4, a7, f2, g2; provided-skills=base-hold, feed(subtype=feeds(tape-roll)), grip(gripper-type=2finger,range=55.0), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0); required-ops=none; open-interfaces=straight-"}, {"id": "gap2->t(4)[a1,a4,a7,f1,g3]", "structure": "task=gap2->t(4); coalition=a1, a4, a7, f1, g3; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=250.0), move(subtype=rotational,direction=vertical,range=180.0), open-close; required-ops=none; open-interfaces=straight-"}, {"id": "gap2->t(4)[a1,a4,a7,f3,g3]", "structure": "task=gap2->t(4); coalition=a1, a4, a7, f3, g3; provided-skills=base-hold, feed(subtype=feeds(body-case)), grip(gripper-type=vacuum), hold, hold, move(subtype=linear,direction=horizontal,range=150.0), move(subtype=linear,direction=horizontal,range=150.0), 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