-- Cuboid 1
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,40,45,0},false) -- menuju cuboid1
        sim.writeCustomStringData(gripperHandle,'activity','on') -- ambil
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- angkat
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{150,0,0,0},true) -- ke bowl
        sim.writeCustomStringData(gripperHandle,'activity','off') -- lepas
        
    -- Cuboid 2: x=0.100, y=0.231, z=0.000
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- angkat
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{-25,40,45,0},false) -- go to cuboid 2
        sim.writeCustomStringData(gripperHandle,'activity','on')
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- lift cuboid 2
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{85,0,5,0},true) -- to bowl
        sim.writeCustomStringData(gripperHandle,'activity','off')

    -- Cuboid 3
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- angkat
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{-40,30,55,0},false) -- go to cuboid 3
        sim.writeCustomStringData(gripperHandle,'activity','on')
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- lift cuboid 3
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{85,0,5,0},true) -- to bowl
        sim.writeCustomStringData(gripperHandle,'activity','off')        
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},false)
        
    -- Cuboid 4
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- angkat
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{-55,50,40,0},false) -- go to cuboid 4
        sim.writeCustomStringData(gripperHandle,'activity','on')
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- lift cuboid 4
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{85,0,5,0},true) -- to bowl
        sim.writeCustomStringData(gripperHandle,'activity','off')        
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},false)
 
    -- Cuboid 5
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- angkat
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{-70,45,38,0},false) -- go to cuboid 5
        sim.writeCustomStringData(gripperHandle,'activity','on')
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},true) -- lift cuboid 5
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{85,0,5,0},true) -- to bowl
        sim.writeCustomStringData(gripperHandle,'activity','off')        
        moveToConfig(motorHandles,maxVel,maxAccel,maxJerk,{0,0,0,0},false)