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table([ eof x: -7 y: 40 z: 70, gripper: close, black-cup x: -27 y: 4 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: -7 y: 40 z: 80 , grey-rectangle x: 1 y: -59 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 51 y: 20 z: 40])
|
* move up * from (-7; 40; 70) * to (-7; 40; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -7 y: 40 z: 380, gripper: close, black-cup x: -27 y: 4 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: -7 y: 40 z: 380 , grey-rectangle x: 1 y: -59 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 51 y: 20 z: 40])
|
* go above the other element * from (-7; 40; 680) * to (-27; 4; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 4 z: 300, gripper: close, black-cup x: -27 y: 4 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: -27 y: 4 z: 300 , grey-rectangle x: 1 y: -59 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 51 y: 20 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 4 z: 300, gripper: open, black-cup x: -27 y: 4 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: -27 y: 4 z: 0 , grey-rectangle x: 1 y: -59 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 51 y: 20 z: 40])
|
* go home * from (-27; 4; 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: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: -13 y: -4 z: 80 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-13; -4; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -4 z: 140, gripper: open, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: -13 y: -4 z: 80 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* go close to it * from(-13; -4; 140)* to (-13; -4; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -4 z: 70, gripper: open, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: -13 y: -4 z: 80 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -4 z: 70, gripper: close, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: -13 y: -4 z: 80 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* move up * from (-13; -4; 70) * to (-13; -4; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -4 z: 380, gripper: close, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: -13 y: -4 z: 380 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* go above the other element * from (-13; -4; 680) * to (20; 42; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 20 y: 42 z: 300, gripper: close, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: 20 y: 42 z: 300 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 20 y: 42 z: 300, gripper: open, black-cup x: 20 y: 42 z: 0 , green-circle x: 4 y: 40 z: 40 , green-rectangle x: -34 y: 5 z: 80 , grey-rectangle x: 20 y: 42 z: 0 , red-rectangle x: -46 y: 0 z: 80 , red-triangle x: -5 y: 37 z: 40])
|
* go home * from (20; 42; 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: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: 19 y: -48 z: 80 , red-triangle x: -26 y: -56 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (19; -48; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -48 z: 140, gripper: open, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: 19 y: -48 z: 80 , red-triangle x: -26 y: -56 z: 40])
|
* go close to it * from(19; -48; 140)* to (19; -48; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -48 z: 70, gripper: open, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: 19 y: -48 z: 80 , red-triangle x: -26 y: -56 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -48 z: 70, gripper: close, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: 19 y: -48 z: 80 , red-triangle x: -26 y: -56 z: 40])
|
* move up * from (19; -48; 70) * to (19; -48; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -48 z: 380, gripper: close, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: 19 y: -48 z: 380 , red-triangle x: -26 y: -56 z: 40])
|
* go above the other element * from (19; -48; 680) * to (-24; -15; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -24 y: -15 z: 300, gripper: close, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: -24 y: -15 z: 300 , red-triangle x: -26 y: -56 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -24 y: -15 z: 300, gripper: open, black-cup x: -24 y: -15 z: 0 , green-circle x: 30 y: 31 z: 40 , green-rectangle x: 12 y: 50 z: 80 , grey-rectangle x: -55 y: -48 z: 80 , red-rectangle x: -24 y: -15 z: 0 , red-triangle x: -26 y: -56 z: 40])
|
* go home * from (-24; -15; 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: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 27 y: 44 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (27; 44; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 44 z: 100, gripper: open, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 27 y: 44 z: 40])
|
* go close to it * from(27; 44; 100)* to (27; 44; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 44 z: 30, gripper: open, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 27 y: 44 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 44 z: 30, gripper: close, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 27 y: 44 z: 40])
|
* move up * from (27; 44; 30) * to (27; 44; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 44 z: 340, gripper: close, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 27 y: 44 z: 340])
|
* go above the other element * from (27; 44; 640) * to (25; 21; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 25 y: 21 z: 300, gripper: close, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 25 y: 21 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 25 y: 21 z: 300, gripper: open, black-cup x: 25 y: 21 z: 0 , green-circle x: 40 y: -50 z: 40 , green-rectangle x: 27 y: -14 z: 80 , grey-rectangle x: -21 y: -3 z: 80 , red-rectangle x: 3 y: 39 z: 80 , red-triangle x: 25 y: 21 z: 0])
|
* go home * from (25; 21; 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: 54 y: 19 z: 0 , green-circle x: 4 y: 7 z: 40 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (4; 7; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 4 y: 7 z: 100, gripper: open, black-cup x: 54 y: 19 z: 0 , green-circle x: 4 y: 7 z: 40 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* go close to it * from(4; 7; 100)* to (4; 7; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 4 y: 7 z: 30, gripper: open, black-cup x: 54 y: 19 z: 0 , green-circle x: 4 y: 7 z: 40 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 4 y: 7 z: 30, gripper: close, black-cup x: 54 y: 19 z: 0 , green-circle x: 4 y: 7 z: 40 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* move up * from (4; 7; 30) * to (4; 7; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 4 y: 7 z: 340, gripper: close, black-cup x: 54 y: 19 z: 0 , green-circle x: 4 y: 7 z: 340 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* go above the other element * from (4; 7; 640) * to (54; 19; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: 19 z: 300, gripper: close, black-cup x: 54 y: 19 z: 0 , green-circle x: 54 y: 19 z: 300 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: 19 z: 300, gripper: open, black-cup x: 54 y: 19 z: 0 , green-circle x: 54 y: 19 z: 0 , green-rectangle x: -42 y: 58 z: 80 , grey-rectangle x: -28 y: -37 z: 80 , red-rectangle x: 22 y: 49 z: 80 , red-triangle x: 9 y: -19 z: 40])
|
* go home * from (54; 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: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: -30 y: -46 z: 80 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-30; -46; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -46 z: 140, gripper: open, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: -30 y: -46 z: 80 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* go close to it * from(-30; -46; 140)* to (-30; -46; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -46 z: 70, gripper: open, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: -30 y: -46 z: 80 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -46 z: 70, gripper: close, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: -30 y: -46 z: 80 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* move up * from (-30; -46; 70) * to (-30; -46; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -46 z: 380, gripper: close, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: -30 y: -46 z: 380 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* go above the other element * from (-30; -46; 680) * to (17; -7; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -7 z: 300, gripper: close, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: 17 y: -7 z: 300 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -7 z: 300, gripper: open, black-cup x: 17 y: -7 z: 0 , green-circle x: 57 y: 39 z: 40 , green-rectangle x: 17 y: -7 z: 0 , grey-rectangle x: 44 y: 52 z: 80 , red-rectangle x: 6 y: 26 z: 80 , red-triangle x: 26 y: 10 z: 40])
|
* go home * from (17; -7; 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: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -49 y: -21 z: 80 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-49; -21; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -21 z: 140, gripper: open, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -49 y: -21 z: 80 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* go close to it * from(-49; -21; 140)* to (-49; -21; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -21 z: 70, gripper: open, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -49 y: -21 z: 80 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -21 z: 70, gripper: close, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -49 y: -21 z: 80 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* move up * from (-49; -21; 70) * to (-49; -21; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -21 z: 380, gripper: close, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -49 y: -21 z: 380 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* go above the other element * from (-49; -21; 680) * to (-7; 34; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -7 y: 34 z: 300, gripper: close, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -7 y: 34 z: 300 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -7 y: 34 z: 300, gripper: open, black-cup x: -7 y: 34 z: 0 , green-circle x: -32 y: 9 z: 40 , green-rectangle x: -8 y: -39 z: 80 , grey-rectangle x: -7 y: 34 z: 0 , red-rectangle x: -10 y: 0 z: 80 , red-triangle x: 41 y: -12 z: 40])
|
* go home * from (-7; 34; 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: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: -8 y: 25 z: 80 , red-triangle x: 52 y: -29 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-8; 25; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 25 z: 140, gripper: open, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: -8 y: 25 z: 80 , red-triangle x: 52 y: -29 z: 40])
|
* go close to it * from(-8; 25; 140)* to (-8; 25; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 25 z: 70, gripper: open, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: -8 y: 25 z: 80 , red-triangle x: 52 y: -29 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 25 z: 70, gripper: close, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: -8 y: 25 z: 80 , red-triangle x: 52 y: -29 z: 40])
|
* move up * from (-8; 25; 70) * to (-8; 25; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 25 z: 380, gripper: close, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: -8 y: 25 z: 380 , red-triangle x: 52 y: -29 z: 40])
|
* go above the other element * from (-8; 25; 680) * to (12; 9; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: 9 z: 300, gripper: close, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: 12 y: 9 z: 300 , red-triangle x: 52 y: -29 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: 9 z: 300, gripper: open, black-cup x: 12 y: 9 z: 0 , green-circle x: -40 y: 56 z: 40 , green-rectangle x: -48 y: -20 z: 80 , grey-rectangle x: 45 y: 2 z: 80 , red-rectangle x: 12 y: 9 z: 0 , red-triangle x: 52 y: -29 z: 40])
|
* go home * from (12; 9; 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: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: 31 y: -3 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (31; -3; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 31 y: -3 z: 100, gripper: open, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: 31 y: -3 z: 40])
|
* go close to it * from(31; -3; 100)* to (31; -3; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 31 y: -3 z: 30, gripper: open, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: 31 y: -3 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 31 y: -3 z: 30, gripper: close, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: 31 y: -3 z: 40])
|
* move up * from (31; -3; 30) * to (31; -3; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 31 y: -3 z: 340, gripper: close, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: 31 y: -3 z: 340])
|
* go above the other element * from (31; -3; 640) * to (-2; -5; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: -5 z: 300, gripper: close, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -2 y: -5 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: -5 z: 300, gripper: open, black-cup x: -2 y: -5 z: 0 , green-circle x: 31 y: 47 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -2 y: -5 z: 0])
|
* go home * from (-2; -5; 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: -55 y: -9 z: 0 , green-circle x: -4 y: -40 z: 40 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-4; -40; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -4 y: -40 z: 100, gripper: open, black-cup x: -55 y: -9 z: 0 , green-circle x: -4 y: -40 z: 40 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* go close to it * from(-4; -40; 100)* to (-4; -40; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -4 y: -40 z: 30, gripper: open, black-cup x: -55 y: -9 z: 0 , green-circle x: -4 y: -40 z: 40 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -4 y: -40 z: 30, gripper: close, black-cup x: -55 y: -9 z: 0 , green-circle x: -4 y: -40 z: 40 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* move up * from (-4; -40; 30) * to (-4; -40; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -4 y: -40 z: 340, gripper: close, black-cup x: -55 y: -9 z: 0 , green-circle x: -4 y: -40 z: 340 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* go above the other element * from (-4; -40; 640) * to (-55; -9; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -55 y: -9 z: 300, gripper: close, black-cup x: -55 y: -9 z: 0 , green-circle x: -55 y: -9 z: 300 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -55 y: -9 z: 300, gripper: open, black-cup x: -55 y: -9 z: 0 , green-circle x: -55 y: -9 z: 0 , green-rectangle x: 36 y: -35 z: 80 , grey-rectangle x: -9 y: -15 z: 80 , red-rectangle x: 25 y: -36 z: 80 , red-triangle x: -40 y: 48 z: 40])
|
* go home * from (-55; -9; 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: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: -23 y: 4 z: 80 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-23; 4; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: 4 z: 140, gripper: open, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: -23 y: 4 z: 80 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* go close to it * from(-23; 4; 140)* to (-23; 4; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: 4 z: 70, gripper: open, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: -23 y: 4 z: 80 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: 4 z: 70, gripper: close, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: -23 y: 4 z: 80 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* move up * from (-23; 4; 70) * to (-23; 4; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: 4 z: 380, gripper: close, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: -23 y: 4 z: 380 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* go above the other element * from (-23; 4; 680) * to (6; -48; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 6 y: -48 z: 300, gripper: close, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: 6 y: -48 z: 300 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 6 y: -48 z: 300, gripper: open, black-cup x: 6 y: -48 z: 0 , green-circle x: -19 y: 3 z: 40 , green-rectangle x: 6 y: -48 z: 0 , grey-rectangle x: -30 y: 14 z: 80 , red-rectangle x: 26 y: -53 z: 80 , red-triangle x: 26 y: 2 z: 40])
|
* go home * from (6; -48; 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: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 17 y: -14 z: 80 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (17; -14; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -14 z: 140, gripper: open, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 17 y: -14 z: 80 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* go close to it * from(17; -14; 140)* to (17; -14; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -14 z: 70, gripper: open, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 17 y: -14 z: 80 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -14 z: 70, gripper: close, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 17 y: -14 z: 80 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* move up * from (17; -14; 70) * to (17; -14; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: -14 z: 380, gripper: close, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 17 y: -14 z: 380 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* go above the other element * from (17; -14; 680) * to (15; 31; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 31 z: 300, gripper: close, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 15 y: 31 z: 300 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 31 z: 300, gripper: open, black-cup x: 15 y: 31 z: 0 , green-circle x: -59 y: -40 z: 40 , green-rectangle x: -13 y: -14 z: 80 , grey-rectangle x: 15 y: 31 z: 0 , red-rectangle x: 11 y: -3 z: 80 , red-triangle x: -52 y: -25 z: 40])
|
* go home * from (15; 31; 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: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: 58 y: 49 z: 80 , red-triangle x: 9 y: 47 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (58; 49; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: 49 z: 140, gripper: open, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: 58 y: 49 z: 80 , red-triangle x: 9 y: 47 z: 40])
|
* go close to it * from(58; 49; 140)* to (58; 49; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: 49 z: 70, gripper: open, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: 58 y: 49 z: 80 , red-triangle x: 9 y: 47 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: 49 z: 70, gripper: close, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: 58 y: 49 z: 80 , red-triangle x: 9 y: 47 z: 40])
|
* move up * from (58; 49; 70) * to (58; 49; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: 49 z: 380, gripper: close, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: 58 y: 49 z: 380 , red-triangle x: 9 y: 47 z: 40])
|
* go above the other element * from (58; 49; 680) * to (-59; 53; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -59 y: 53 z: 300, gripper: close, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: -59 y: 53 z: 300 , red-triangle x: 9 y: 47 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -59 y: 53 z: 300, gripper: open, black-cup x: -59 y: 53 z: 0 , green-circle x: -6 y: -51 z: 40 , green-rectangle x: 19 y: -28 z: 80 , grey-rectangle x: -31 y: 38 z: 80 , red-rectangle x: -59 y: 53 z: 0 , red-triangle x: 9 y: 47 z: 40])
|
* go home * from (-59; 53; 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: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: 22 y: -37 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (22; -37; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 22 y: -37 z: 100, gripper: open, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: 22 y: -37 z: 40])
|
* go close to it * from(22; -37; 100)* to (22; -37; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 22 y: -37 z: 30, gripper: open, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: 22 y: -37 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 22 y: -37 z: 30, gripper: close, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: 22 y: -37 z: 40])
|
* move up * from (22; -37; 30) * to (22; -37; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 22 y: -37 z: 340, gripper: close, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: 22 y: -37 z: 340])
|
* go above the other element * from (22; -37; 640) * to (-36; 25; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -36 y: 25 z: 300, gripper: close, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: -36 y: 25 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -36 y: 25 z: 300, gripper: open, black-cup x: -36 y: 25 z: 0 , green-circle x: -22 y: 49 z: 40 , green-rectangle x: 26 y: -46 z: 80 , grey-rectangle x: -27 y: 7 z: 80 , red-rectangle x: -6 y: 12 z: 80 , red-triangle x: -36 y: 25 z: 0])
|
* go home * from (-36; 25; 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: -28 y: -47 z: 0 , green-circle x: 7 y: 0 z: 40 , green-rectangle x: 45 y: 24 z: 80 , grey-rectangle x: -50 y: 28 z: 80 , red-rectangle x: 46 y: -3 z: 80 , red-triangle x: -31 y: -40 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (7; 0; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 7 y: 0 z: 100, gripper: open, black-cup x: -28 y: -47 z: 0 , green-circle x: 7 y: 0 z: 40 , green-rectangle x: 45 y: 24 z: 80 , grey-rectangle x: -50 y: 28 z: 80 , red-rectangle x: 46 y: -3 z: 80 , red-triangle x: -31 y: -40 z: 40])
|
* go close to it * from(7; 0; 100)* to (7; 0; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 7 y: 0 z: 30, gripper: open, black-cup x: -28 y: -47 z: 0 , green-circle x: 7 y: 0 z: 40 , green-rectangle x: 45 y: 24 z: 80 , grey-rectangle x: -50 y: 28 z: 80 , red-rectangle x: 46 y: -3 z: 80 , red-triangle x: -31 y: -40 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 7 y: 0 z: 30, gripper: close, black-cup x: -28 y: -47 z: 0 , green-circle x: 7 y: 0 z: 40 , green-rectangle x: 45 y: 24 z: 80 , grey-rectangle x: -50 y: 28 z: 80 , red-rectangle x: 46 y: -3 z: 80 , red-triangle x: -31 y: -40 z: 40])
|
* move up * from (7; 0; 30) * to (7; 0; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 7 y: 0 z: 340, gripper: close, black-cup x: -28 y: -47 z: 0 , green-circle x: 7 y: 0 z: 340 , green-rectangle x: 45 y: 24 z: 80 , grey-rectangle x: -50 y: 28 z: 80 , red-rectangle x: 46 y: -3 z: 80 , red-triangle x: -31 y: -40 z: 40])
|
* go above the other element * from (7; 0; 640) * to (-28; -47; 300)
|
take the green-circle and put it inside the black cup
|
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