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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -8 y: -13 z: 0 , green-circle x: -20 y: 28 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-20; 28; 60)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: 28 z: 60, gripper: open, black-cup x: -8 y: -13 z: 0 , green-circle x: -20 y: 28 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* go close to it * from(-20; 28; 60)* to (-20; 28; -10)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: 28 z: -10, gripper: open, black-cup x: -8 y: -13 z: 0 , green-circle x: -20 y: 28 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: 28 z: -10, gripper: close, black-cup x: -8 y: -13 z: 0 , green-circle x: -20 y: 28 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* move up * from (-20; 28; -10) * to (-20; 28; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: 28 z: 300, gripper: close, black-cup x: -8 y: -13 z: 0 , green-circle x: -20 y: 28 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* go above the other element * from (-20; 28; 300) * to (-8; -13; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -13 z: 300, gripper: close, black-cup x: -8 y: -13 z: 0 , green-circle x: -8 y: -13 z: 300 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -13 z: 300, gripper: open, black-cup x: -8 y: -13 z: 0 , green-circle x: -8 y: -13 z: 0 , green-rectangle x: -23 y: 23 z: 0 , grey-rectangle x: -30 y: 32 z: 0 , red-rectangle x: 37 y: -54 z: 0 , red-triangle x: 26 y: 3 z: 0])
|
* go home * from (-8; -13; 300) * to (380; 0; 620)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 10 y: -11 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (10; -11; 60)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 10 y: -11 z: 60, gripper: open, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 10 y: -11 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* go close to it * from(10; -11; 60)* to (10; -11; -10)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 10 y: -11 z: -10, gripper: open, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 10 y: -11 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 10 y: -11 z: -10, gripper: close, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 10 y: -11 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* move up * from (10; -11; -10) * to (10; -11; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 10 y: -11 z: 300, gripper: close, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 10 y: -11 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* go above the other element * from (10; -11; 300) * to (14; 13; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: 13 z: 300, gripper: close, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 14 y: 13 z: 300 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: 13 z: 300, gripper: open, black-cup x: 14 y: 13 z: 0 , green-circle x: 34 y: 0 z: 0 , green-rectangle x: 14 y: 13 z: 0 , grey-rectangle x: -49 y: 44 z: 0 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 29 y: -42 z: 0])
|
* go home * from (14; 13; 300) * to (380; 0; 620)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 8 y: 34 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (8; 34; 60)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: 34 z: 60, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 8 y: 34 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* go close to it * from(8; 34; 60)* to (8; 34; -10)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: 34 z: -10, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 8 y: 34 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: 34 z: -10, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 8 y: 34 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* move up * from (8; 34; -10) * to (8; 34; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: 34 z: 300, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 8 y: 34 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* go above the other element * from (8; 34; 300) * to (55; -18; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -18 z: 300, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 55 y: -18 z: 300 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -18 z: 300, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -12 y: -49 z: 0 , green-rectangle x: 18 y: 22 z: 0 , grey-rectangle x: 55 y: -18 z: 0 , red-rectangle x: 18 y: 20 z: 0 , red-triangle x: 41 y: -33 z: 0])
|
* go home * from (55; -18; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 34 y: -15 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (34; -15; 60)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 34 y: -15 z: 60, gripper: open, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 34 y: -15 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* go close to it * from(34; -15; 60)* to (34; -15; -10)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 34 y: -15 z: -10, gripper: open, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 34 y: -15 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 34 y: -15 z: -10, gripper: close, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 34 y: -15 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* move up * from (34; -15; -10) * to (34; -15; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 34 y: -15 z: 300, gripper: close, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 34 y: -15 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* go above the other element * from (34; -15; 300) * to (50; 6; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 50 y: 6 z: 300, gripper: close, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 50 y: 6 z: 300 , red-triangle x: -28 y: 56 z: 0])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 50 y: 6 z: 300, gripper: open, black-cup x: 50 y: 6 z: 0 , green-circle x: -2 y: 34 z: 0 , green-rectangle x: -35 y: 23 z: 0 , grey-rectangle x: 45 y: 39 z: 0 , red-rectangle x: 50 y: 6 z: 0 , red-triangle x: -28 y: 56 z: 0])
|
* go home * from (50; 6; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -47 y: 23 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-47; 23; 60)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: 23 z: 60, gripper: open, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -47 y: 23 z: 0])
|
* go close to it * from(-47; 23; 60)* to (-47; 23; -10)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: 23 z: -10, gripper: open, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -47 y: 23 z: 0])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: 23 z: -10, gripper: close, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -47 y: 23 z: 0])
|
* move up * from (-47; 23; -10) * to (-47; 23; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: 23 z: 300, gripper: close, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -47 y: 23 z: 0])
|
* go above the other element * from (-47; 23; 300) * to (-4; -48; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -4 y: -48 z: 300, gripper: close, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -4 y: -48 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -4 y: -48 z: 300, gripper: open, black-cup x: -4 y: -48 z: 0 , green-circle x: 39 y: 14 z: 0 , green-rectangle x: -43 y: -7 z: 0 , grey-rectangle x: 47 y: -4 z: 0 , red-rectangle x: 49 y: -36 z: 0 , red-triangle x: -4 y: -48 z: 0])
|
* go home * from (-4; -48; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -20 y: -32 z: 0 , green-circle x: 45 y: -4 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (45; -4; 60)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -4 z: 60, gripper: open, black-cup x: -20 y: -32 z: 0 , green-circle x: 45 y: -4 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* go close to it * from(45; -4; 60)* to (45; -4; -10)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -4 z: -10, gripper: open, black-cup x: -20 y: -32 z: 0 , green-circle x: 45 y: -4 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -4 z: -10, gripper: close, black-cup x: -20 y: -32 z: 0 , green-circle x: 45 y: -4 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* move up * from (45; -4; -10) * to (45; -4; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -4 z: 300, gripper: close, black-cup x: -20 y: -32 z: 0 , green-circle x: 45 y: -4 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* go above the other element * from (45; -4; 300) * to (-20; -32; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -32 z: 300, gripper: close, black-cup x: -20 y: -32 z: 0 , green-circle x: -20 y: -32 z: 300 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -32 z: 300, gripper: open, black-cup x: -20 y: -32 z: 0 , green-circle x: -20 y: -32 z: 0 , green-rectangle x: -43 y: -41 z: 0 , grey-rectangle x: 31 y: 48 z: 0 , red-rectangle x: -39 y: 7 z: 0 , red-triangle x: -57 y: -22 z: 0])
|
* go home * from (-20; -32; 300) * to (380; 0; 620)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -21 y: 14 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-21; 14; 60)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 14 z: 60, gripper: open, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -21 y: 14 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* go close to it * from(-21; 14; 60)* to (-21; 14; -10)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 14 z: -10, gripper: open, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -21 y: 14 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 14 z: -10, gripper: close, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -21 y: 14 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* move up * from (-21; 14; -10) * to (-21; 14; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 14 z: 300, gripper: close, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -21 y: 14 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* go above the other element * from (-21; 14; 300) * to (-5; -50; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -5 y: -50 z: 300, gripper: close, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -5 y: -50 z: 300 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -5 y: -50 z: 300, gripper: open, black-cup x: -5 y: -50 z: 0 , green-circle x: 54 y: -47 z: 0 , green-rectangle x: -5 y: -50 z: 0 , grey-rectangle x: -27 y: 11 z: 0 , red-rectangle x: -1 y: 57 z: 0 , red-triangle x: 16 y: 59 z: 0])
|
* go home * from (-5; -50; 300) * to (380; 0; 620)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: 17 y: -30 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (17; -30; 60)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -30 z: 60, gripper: open, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: 17 y: -30 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* go close to it * from(17; -30; 60)* to (17; -30; -10)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -30 z: -10, gripper: open, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: 17 y: -30 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -30 z: -10, gripper: close, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: 17 y: -30 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* move up * from (17; -30; -10) * to (17; -30; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -30 z: 300, gripper: close, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: 17 y: -30 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* go above the other element * from (17; -30; 300) * to (-13; 24; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 24 z: 300, gripper: close, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: -13 y: 24 z: 300 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 24 z: 300, gripper: open, black-cup x: -13 y: 24 z: 0 , green-circle x: 15 y: -58 z: 0 , green-rectangle x: 55 y: -14 z: 0 , grey-rectangle x: -13 y: 24 z: 0 , red-rectangle x: -5 y: -11 z: 0 , red-triangle x: -55 y: 21 z: 0])
|
* go home * from (-13; 24; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -15 y: 24 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-15; 24; 60)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 24 z: 60, gripper: open, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -15 y: 24 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* go close to it * from(-15; 24; 60)* to (-15; 24; -10)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 24 z: -10, gripper: open, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -15 y: 24 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 24 z: -10, gripper: close, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -15 y: 24 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* move up * from (-15; 24; -10) * to (-15; 24; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 24 z: 300, gripper: close, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -15 y: 24 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* go above the other element * from (-15; 24; 300) * to (-57; 55; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -57 y: 55 z: 300, gripper: close, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -57 y: 55 z: 300 , red-triangle x: -31 y: 36 z: 0])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -57 y: 55 z: 300, gripper: open, black-cup x: -57 y: 55 z: 0 , green-circle x: 39 y: 4 z: 0 , green-rectangle x: -16 y: -36 z: 0 , grey-rectangle x: 21 y: -3 z: 0 , red-rectangle x: -57 y: 55 z: 0 , red-triangle x: -31 y: 36 z: 0])
|
* go home * from (-57; 55; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: 53 y: 23 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (53; 23; 60)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 53 y: 23 z: 60, gripper: open, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: 53 y: 23 z: 0])
|
* go close to it * from(53; 23; 60)* to (53; 23; -10)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 53 y: 23 z: -10, gripper: open, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: 53 y: 23 z: 0])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 53 y: 23 z: -10, gripper: close, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: 53 y: 23 z: 0])
|
* move up * from (53; 23; -10) * to (53; 23; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 53 y: 23 z: 300, gripper: close, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: 53 y: 23 z: 0])
|
* go above the other element * from (53; 23; 300) * to (-49; -9; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -49 y: -9 z: 300, gripper: close, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: -49 y: -9 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -49 y: -9 z: 300, gripper: open, black-cup x: -49 y: -9 z: 0 , green-circle x: -4 y: -52 z: 0 , green-rectangle x: 50 y: 38 z: 0 , grey-rectangle x: 24 y: 25 z: 0 , red-rectangle x: -34 y: -52 z: 0 , red-triangle x: -49 y: -9 z: 0])
|
* go home * from (-49; -9; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 18 y: 19 z: 0 , green-circle x: 45 y: -28 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (45; -28; 60)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -28 z: 60, gripper: open, black-cup x: 18 y: 19 z: 0 , green-circle x: 45 y: -28 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* go close to it * from(45; -28; 60)* to (45; -28; -10)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -28 z: -10, gripper: open, black-cup x: 18 y: 19 z: 0 , green-circle x: 45 y: -28 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -28 z: -10, gripper: close, black-cup x: 18 y: 19 z: 0 , green-circle x: 45 y: -28 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* move up * from (45; -28; -10) * to (45; -28; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 45 y: -28 z: 300, gripper: close, black-cup x: 18 y: 19 z: 0 , green-circle x: 45 y: -28 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* go above the other element * from (45; -28; 300) * to (18; 19; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 18 y: 19 z: 300, gripper: close, black-cup x: 18 y: 19 z: 0 , green-circle x: 18 y: 19 z: 300 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 18 y: 19 z: 300, gripper: open, black-cup x: 18 y: 19 z: 0 , green-circle x: 18 y: 19 z: 0 , green-rectangle x: 10 y: 25 z: 0 , grey-rectangle x: 0 y: 46 z: 0 , red-rectangle x: -46 y: 3 z: 0 , red-triangle x: 5 y: 58 z: 0])
|
* go home * from (18; 19; 300) * to (380; 0; 620)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -59 y: -49 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-59; -49; 60)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -59 y: -49 z: 60, gripper: open, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -59 y: -49 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* go close to it * from(-59; -49; 60)* to (-59; -49; -10)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -59 y: -49 z: -10, gripper: open, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -59 y: -49 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -59 y: -49 z: -10, gripper: close, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -59 y: -49 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* move up * from (-59; -49; -10) * to (-59; -49; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -59 y: -49 z: 300, gripper: close, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -59 y: -49 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* go above the other element * from (-59; -49; 300) * to (-12; -34; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -12 y: -34 z: 300, gripper: close, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -12 y: -34 z: 300 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -12 y: -34 z: 300, gripper: open, black-cup x: -12 y: -34 z: 0 , green-circle x: -9 y: 21 z: 0 , green-rectangle x: -12 y: -34 z: 0 , grey-rectangle x: -41 y: 4 z: 0 , red-rectangle x: 9 y: 46 z: 0 , red-triangle x: 8 y: 28 z: 0])
|
* go home * from (-12; -34; 300) * to (380; 0; 620)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: 36 y: 0 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (36; 0; 60)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 36 y: 0 z: 60, gripper: open, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: 36 y: 0 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* go close to it * from(36; 0; 60)* to (36; 0; -10)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 36 y: 0 z: -10, gripper: open, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: 36 y: 0 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 36 y: 0 z: -10, gripper: close, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: 36 y: 0 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* move up * from (36; 0; -10) * to (36; 0; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 36 y: 0 z: 300, gripper: close, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: 36 y: 0 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* go above the other element * from (36; 0; 300) * to (-15; 54; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 54 z: 300, gripper: close, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: -15 y: 54 z: 300 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 54 z: 300, gripper: open, black-cup x: -15 y: 54 z: 0 , green-circle x: 22 y: 12 z: 0 , green-rectangle x: 19 y: 58 z: 0 , grey-rectangle x: -15 y: 54 z: 0 , red-rectangle x: -53 y: 34 z: 0 , red-triangle x: -34 y: 45 z: 0])
|
* go home * from (-15; 54; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -23 y: -9 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-23; -9; 60)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -9 z: 60, gripper: open, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -23 y: -9 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* go close to it * from(-23; -9; 60)* to (-23; -9; -10)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -9 z: -10, gripper: open, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -23 y: -9 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -9 z: -10, gripper: close, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -23 y: -9 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* move up * from (-23; -9; -10) * to (-23; -9; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -9 z: 300, gripper: close, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -23 y: -9 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* go above the other element * from (-23; -9; 300) * to (-25; 12; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -25 y: 12 z: 300, gripper: close, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -25 y: 12 z: 300 , red-triangle x: -13 y: 56 z: 0])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -25 y: 12 z: 300, gripper: open, black-cup x: -25 y: 12 z: 0 , green-circle x: 19 y: -49 z: 0 , green-rectangle x: 44 y: 44 z: 0 , grey-rectangle x: -3 y: -44 z: 0 , red-rectangle x: -25 y: 12 z: 0 , red-triangle x: -13 y: 56 z: 0])
|
* go home * from (-25; 12; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 21 y: 4 z: 0 , green-circle x: 6 y: 14 z: 0 , green-rectangle x: -11 y: -48 z: 0 , grey-rectangle x: -53 y: 46 z: 0 , red-rectangle x: 38 y: -27 z: 0 , red-triangle x: -21 y: 55 z: 0])
|
* go above the element to pick * from (380; 0; 620) * to (-21; 55; 60)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -21 y: 55 z: 60, gripper: open, black-cup x: 21 y: 4 z: 0 , green-circle x: 6 y: 14 z: 0 , green-rectangle x: -11 y: -48 z: 0 , grey-rectangle x: -53 y: 46 z: 0 , red-rectangle x: 38 y: -27 z: 0 , red-triangle x: -21 y: 55 z: 0])
|
* go close to it * from(-21; 55; 60)* to (-21; 55; -10)
|
take the red-triangle and put it inside the black cup
|
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