R = None
G = None
B = None


dType.SetIOMultiplexingEx(api, 15, 1, 1)
dType.SetIODOEx(api, 15, 1, 1)
dType.SetInfraredSensor(api, 1 ,2, 1)
current_pose = dType.GetPose(api)
dType.SetPTPCmdEx(api, 2, 218,  15,  36, current_pose[3], 1)
current_pose = dType.GetPose(api)
dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 0, 1)
for count2 in range(100):
  while (dType.GetInfraredSensor(api, 2)[0]) == 0:
    STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
    MM_PER_CRICLE = 3.1415926535898 * 36.0
    vel = float(50) * STEP_PER_CRICLE / MM_PER_CRICLE
    dType.SetEMotorEx(api, 0, 1, int(vel), 1)
  for count in range(100):
    while (dType.GetInfraredSensor(api, 2)[0]) == 1:
      dType.SetWAITCmdEx(api, 0.25, 1)
      STEP_PER_CRICLE = 360.0 / 1.8 * 10.0 * 16.0
      MM_PER_CRICLE = 3.1415926535898 * 36.0
      vel = float(0) * STEP_PER_CRICLE / MM_PER_CRICLE
      dType.SetEMotorEx(api, 0, 0, int(vel), 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 95, 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPCmdEx(api, 2, 234,  16,  (-48), current_pose[3], 1)
      dType.SetEndEffectorSuctionCupEx(api, 1, 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPCmdEx(api, 2, 218,  15,  36, current_pose[3], 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 0, 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPCmdEx(api, 2, 148,  91,  (-37), current_pose[3], 1)
      dType.SetColorSensor(api, 1 ,1, 1)
      dType.SetWAITCmdEx(api, 1, 1)
      R = dType.GetColorSensorEx(api, 0)
      G = dType.GetColorSensorEx(api, 1)
      B = dType.GetColorSensorEx(api, 2)
      dType.SetWAITCmdEx(api, 0.3, 1)
      dType.SetColorSensor(api, 0 ,1, 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPCmdEx(api, 2, 218,  15,  36, current_pose[3], 1)
      if R == 1:
        current_pose = dType.GetPose(api)
        dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 66, 1)
        current_pose = dType.GetPose(api)
        dType.SetPTPCmdEx(api, 2, 320,  22,  3, current_pose[3], 1)
        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
      if B == 1:
        current_pose = dType.GetPose(api)
        dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 187, 1)
        current_pose = dType.GetPose(api)
        dType.SetPTPCmdEx(api, 2, 320,  22,  3, current_pose[3], 1)
        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
      if G == 1:
        current_pose = dType.GetPose(api)
        dType.SetPTPWithLCmdEx(api, 1, current_pose[0], current_pose[1], current_pose[2], current_pose[3], 300, 1)
        current_pose = dType.GetPose(api)
        dType.SetPTPCmdEx(api, 2, 320,  22,  3, current_pose[3], 1)
        dType.SetEndEffectorSuctionCupEx(api, 0, 1)
      current_pose = dType.GetPose(api)
      dType.SetPTPCmdEx(api, 2, 218,  15,  36, current_pose[3], 1)