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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -48 y: -33 z: 0 , green-circle x: 41 y: 32 z: 40 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (41; 32; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 41 y: 32 z: 100, gripper: open, black-cup x: -48 y: -33 z: 0 , green-circle x: 41 y: 32 z: 40 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* go close to it * from(41; 32; 100)* to (41; 32; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 41 y: 32 z: 30, gripper: open, black-cup x: -48 y: -33 z: 0 , green-circle x: 41 y: 32 z: 40 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 41 y: 32 z: 30, gripper: close, black-cup x: -48 y: -33 z: 0 , green-circle x: 41 y: 32 z: 40 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* move up * from (41; 32; 30) * to (41; 32; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 41 y: 32 z: 340, gripper: close, black-cup x: -48 y: -33 z: 0 , green-circle x: 41 y: 32 z: 340 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* go above the other element * from (41; 32; 640) * to (-48; -33; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -48 y: -33 z: 300, gripper: close, black-cup x: -48 y: -33 z: 0 , green-circle x: -48 y: -33 z: 300 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -48 y: -33 z: 300, gripper: open, black-cup x: -48 y: -33 z: 0 , green-circle x: -48 y: -33 z: 0 , green-rectangle x: -4 y: 9 z: 80 , grey-rectangle x: 24 y: -21 z: 80 , red-rectangle x: -3 y: -10 z: 80 , red-triangle x: -49 y: -9 z: 40])
|
* go home * from (-48; -33; 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: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: -22 y: 29 z: 80 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-22; 29; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 29 z: 140, gripper: open, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: -22 y: 29 z: 80 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* go close to it * from(-22; 29; 140)* to (-22; 29; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 29 z: 70, gripper: open, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: -22 y: 29 z: 80 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 29 z: 70, gripper: close, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: -22 y: 29 z: 80 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* move up * from (-22; 29; 70) * to (-22; 29; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 29 z: 380, gripper: close, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: -22 y: 29 z: 380 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* go above the other element * from (-22; 29; 680) * to (44; -36; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -36 z: 300, gripper: close, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: 44 y: -36 z: 300 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -36 z: 300, gripper: open, black-cup x: 44 y: -36 z: 0 , green-circle x: 15 y: -47 z: 40 , green-rectangle x: 44 y: -36 z: 0 , grey-rectangle x: -22 y: -55 z: 80 , red-rectangle x: -2 y: 35 z: 80 , red-triangle x: -34 y: -26 z: 40])
|
* go home * from (44; -36; 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: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: -24 y: 9 z: 80 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-24; 9; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -24 y: 9 z: 140, gripper: open, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: -24 y: 9 z: 80 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* go close to it * from(-24; 9; 140)* to (-24; 9; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -24 y: 9 z: 70, gripper: open, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: -24 y: 9 z: 80 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -24 y: 9 z: 70, gripper: close, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: -24 y: 9 z: 80 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* move up * from (-24; 9; 70) * to (-24; 9; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -24 y: 9 z: 380, gripper: close, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: -24 y: 9 z: 380 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* go above the other element * from (-24; 9; 680) * to (17; 48; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: 48 z: 300, gripper: close, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: 17 y: 48 z: 300 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 17 y: 48 z: 300, gripper: open, black-cup x: 17 y: 48 z: 0 , green-circle x: -5 y: 50 z: 40 , green-rectangle x: -29 y: -6 z: 80 , grey-rectangle x: 17 y: 48 z: 0 , red-rectangle x: -19 y: 52 z: 80 , red-triangle x: 54 y: -34 z: 40])
|
* go home * from (17; 48; 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: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 30 y: -5 z: 80 , red-triangle x: 29 y: -44 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (30; -5; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 30 y: -5 z: 140, gripper: open, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 30 y: -5 z: 80 , red-triangle x: 29 y: -44 z: 40])
|
* go close to it * from(30; -5; 140)* to (30; -5; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 30 y: -5 z: 70, gripper: open, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 30 y: -5 z: 80 , red-triangle x: 29 y: -44 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 30 y: -5 z: 70, gripper: close, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 30 y: -5 z: 80 , red-triangle x: 29 y: -44 z: 40])
|
* move up * from (30; -5; 70) * to (30; -5; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 30 y: -5 z: 380, gripper: close, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 30 y: -5 z: 380 , red-triangle x: 29 y: -44 z: 40])
|
* go above the other element * from (30; -5; 680) * to (7; 24; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 24 z: 300, gripper: close, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 7 y: 24 z: 300 , red-triangle x: 29 y: -44 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 24 z: 300, gripper: open, black-cup x: 7 y: 24 z: 0 , green-circle x: -5 y: -7 z: 40 , green-rectangle x: 2 y: -19 z: 80 , grey-rectangle x: -45 y: 30 z: 80 , red-rectangle x: 7 y: 24 z: 0 , red-triangle x: 29 y: -44 z: 40])
|
* go home * from (7; 24; 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: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: -22 y: -1 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-22; -1; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -1 z: 100, gripper: open, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: -22 y: -1 z: 40])
|
* go close to it * from(-22; -1; 100)* to (-22; -1; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -1 z: 30, gripper: open, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: -22 y: -1 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -1 z: 30, gripper: close, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: -22 y: -1 z: 40])
|
* move up * from (-22; -1; 30) * to (-22; -1; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -1 z: 340, gripper: close, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: -22 y: -1 z: 340])
|
* go above the other element * from (-22; -1; 640) * to (35; -9; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: -9 z: 300, gripper: close, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: 35 y: -9 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: -9 z: 300, gripper: open, black-cup x: 35 y: -9 z: 0 , green-circle x: -9 y: -2 z: 40 , green-rectangle x: 19 y: -34 z: 80 , grey-rectangle x: -53 y: -44 z: 80 , red-rectangle x: 14 y: 3 z: 80 , red-triangle x: 35 y: -9 z: 0])
|
* go home * from (35; -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: 24 y: -21 z: 0 , green-circle x: -6 y: -48 z: 40 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-6; -48; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -48 z: 100, gripper: open, black-cup x: 24 y: -21 z: 0 , green-circle x: -6 y: -48 z: 40 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* go close to it * from(-6; -48; 100)* to (-6; -48; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -48 z: 30, gripper: open, black-cup x: 24 y: -21 z: 0 , green-circle x: -6 y: -48 z: 40 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -48 z: 30, gripper: close, black-cup x: 24 y: -21 z: 0 , green-circle x: -6 y: -48 z: 40 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* move up * from (-6; -48; 30) * to (-6; -48; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -48 z: 340, gripper: close, black-cup x: 24 y: -21 z: 0 , green-circle x: -6 y: -48 z: 340 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* go above the other element * from (-6; -48; 640) * to (24; -21; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -21 z: 300, gripper: close, black-cup x: 24 y: -21 z: 0 , green-circle x: 24 y: -21 z: 300 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -21 z: 300, gripper: open, black-cup x: 24 y: -21 z: 0 , green-circle x: 24 y: -21 z: 0 , green-rectangle x: 7 y: -36 z: 80 , grey-rectangle x: -46 y: -57 z: 80 , red-rectangle x: 23 y: 35 z: 80 , red-triangle x: -25 y: 43 z: 40])
|
* go home * from (24; -21; 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: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -32 y: 29 z: 80 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-32; 29; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 29 z: 140, gripper: open, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -32 y: 29 z: 80 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* go close to it * from(-32; 29; 140)* to (-32; 29; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 29 z: 70, gripper: open, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -32 y: 29 z: 80 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 29 z: 70, gripper: close, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -32 y: 29 z: 80 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* move up * from (-32; 29; 70) * to (-32; 29; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 29 z: 380, gripper: close, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -32 y: 29 z: 380 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* go above the other element * from (-32; 29; 680) * to (-41; -45; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -45 z: 300, gripper: close, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -41 y: -45 z: 300 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -45 z: 300, gripper: open, black-cup x: -41 y: -45 z: 0 , green-circle x: -45 y: -58 z: 40 , green-rectangle x: -41 y: -45 z: 0 , grey-rectangle x: 24 y: -39 z: 80 , red-rectangle x: 51 y: -50 z: 80 , red-triangle x: 23 y: -53 z: 40])
|
* go home * from (-41; -45; 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: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -58 y: -41 z: 80 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-58; -41; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -58 y: -41 z: 140, gripper: open, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -58 y: -41 z: 80 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* go close to it * from(-58; -41; 140)* to (-58; -41; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -58 y: -41 z: 70, gripper: open, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -58 y: -41 z: 80 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -58 y: -41 z: 70, gripper: close, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -58 y: -41 z: 80 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* move up * from (-58; -41; 70) * to (-58; -41; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -58 y: -41 z: 380, gripper: close, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -58 y: -41 z: 380 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* go above the other element * from (-58; -41; 680) * to (-4; -29; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -4 y: -29 z: 300, gripper: close, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -4 y: -29 z: 300 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -4 y: -29 z: 300, gripper: open, black-cup x: -4 y: -29 z: 0 , green-circle x: -48 y: 46 z: 40 , green-rectangle x: -10 y: 59 z: 80 , grey-rectangle x: -4 y: -29 z: 0 , red-rectangle x: 41 y: 36 z: 80 , red-triangle x: 57 y: 53 z: 40])
|
* go home * from (-4; -29; 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: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 59 y: 55 z: 80 , red-triangle x: -40 y: 55 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (59; 55; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 55 z: 140, gripper: open, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 59 y: 55 z: 80 , red-triangle x: -40 y: 55 z: 40])
|
* go close to it * from(59; 55; 140)* to (59; 55; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 55 z: 70, gripper: open, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 59 y: 55 z: 80 , red-triangle x: -40 y: 55 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 55 z: 70, gripper: close, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 59 y: 55 z: 80 , red-triangle x: -40 y: 55 z: 40])
|
* move up * from (59; 55; 70) * to (59; 55; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 55 z: 380, gripper: close, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 59 y: 55 z: 380 , red-triangle x: -40 y: 55 z: 40])
|
* go above the other element * from (59; 55; 680) * to (22; -32; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -32 z: 300, gripper: close, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 22 y: -32 z: 300 , red-triangle x: -40 y: 55 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -32 z: 300, gripper: open, black-cup x: 22 y: -32 z: 0 , green-circle x: 8 y: 10 z: 40 , green-rectangle x: -50 y: -41 z: 80 , grey-rectangle x: -1 y: -13 z: 80 , red-rectangle x: 22 y: -32 z: 0 , red-triangle x: -40 y: 55 z: 40])
|
* go home * from (22; -32; 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: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -6 y: 34 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-6; 34; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 34 z: 100, gripper: open, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -6 y: 34 z: 40])
|
* go close to it * from(-6; 34; 100)* to (-6; 34; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 34 z: 30, gripper: open, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -6 y: 34 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 34 z: 30, gripper: close, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -6 y: 34 z: 40])
|
* move up * from (-6; 34; 30) * to (-6; 34; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 34 z: 340, gripper: close, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -6 y: 34 z: 340])
|
* go above the other element * from (-6; 34; 640) * to (-22; -12; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -12 z: 300, gripper: close, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -22 y: -12 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -12 z: 300, gripper: open, black-cup x: -22 y: -12 z: 0 , green-circle x: -32 y: -36 z: 40 , green-rectangle x: -13 y: -17 z: 80 , grey-rectangle x: 22 y: 57 z: 80 , red-rectangle x: -56 y: 15 z: 80 , red-triangle x: -22 y: -12 z: 0])
|
* go home * from (-22; -12; 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: -13 y: 22 z: 0 , green-circle x: -37 y: -14 z: 40 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-37; -14; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -37 y: -14 z: 100, gripper: open, black-cup x: -13 y: 22 z: 0 , green-circle x: -37 y: -14 z: 40 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* go close to it * from(-37; -14; 100)* to (-37; -14; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -37 y: -14 z: 30, gripper: open, black-cup x: -13 y: 22 z: 0 , green-circle x: -37 y: -14 z: 40 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -37 y: -14 z: 30, gripper: close, black-cup x: -13 y: 22 z: 0 , green-circle x: -37 y: -14 z: 40 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* move up * from (-37; -14; 30) * to (-37; -14; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -37 y: -14 z: 340, gripper: close, black-cup x: -13 y: 22 z: 0 , green-circle x: -37 y: -14 z: 340 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* go above the other element * from (-37; -14; 640) * to (-13; 22; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 22 z: 300, gripper: close, black-cup x: -13 y: 22 z: 0 , green-circle x: -13 y: 22 z: 300 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 22 z: 300, gripper: open, black-cup x: -13 y: 22 z: 0 , green-circle x: -13 y: 22 z: 0 , green-rectangle x: -51 y: -26 z: 80 , grey-rectangle x: 32 y: -15 z: 80 , red-rectangle x: 49 y: 2 z: 80 , red-triangle x: 54 y: 41 z: 40])
|
* go home * from (-13; 22; 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: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -22 y: -56 z: 80 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-22; -56; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: -56 z: 140, gripper: open, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -22 y: -56 z: 80 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* go close to it * from(-22; -56; 140)* to (-22; -56; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: -56 z: 70, gripper: open, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -22 y: -56 z: 80 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: -56 z: 70, gripper: close, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -22 y: -56 z: 80 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* move up * from (-22; -56; 70) * to (-22; -56; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -22 y: -56 z: 380, gripper: close, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -22 y: -56 z: 380 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* go above the other element * from (-22; -56; 680) * to (-10; -10; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -10 z: 300, gripper: close, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -10 y: -10 z: 300 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -10 z: 300, gripper: open, black-cup x: -10 y: -10 z: 0 , green-circle x: 58 y: -5 z: 40 , green-rectangle x: -10 y: -10 z: 0 , grey-rectangle x: 50 y: 48 z: 80 , red-rectangle x: 9 y: 47 z: 80 , red-triangle x: 45 y: 45 z: 40])
|
* go home * from (-10; -10; 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: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: 4 y: 57 z: 80 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (4; 57; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 4 y: 57 z: 140, gripper: open, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: 4 y: 57 z: 80 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* go close to it * from(4; 57; 140)* to (4; 57; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 4 y: 57 z: 70, gripper: open, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: 4 y: 57 z: 80 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 4 y: 57 z: 70, gripper: close, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: 4 y: 57 z: 80 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* move up * from (4; 57; 70) * to (4; 57; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 4 y: 57 z: 380, gripper: close, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: 4 y: 57 z: 380 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* go above the other element * from (4; 57; 680) * to (-42; 32; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -42 y: 32 z: 300, gripper: close, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: -42 y: 32 z: 300 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -42 y: 32 z: 300, gripper: open, black-cup x: -42 y: 32 z: 0 , green-circle x: -49 y: 8 z: 40 , green-rectangle x: 25 y: 9 z: 80 , grey-rectangle x: -42 y: 32 z: 0 , red-rectangle x: -46 y: 58 z: 80 , red-triangle x: 35 y: -59 z: 40])
|
* go home * from (-42; 32; 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: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: 42 y: -21 z: 80 , red-triangle x: 12 y: 57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (42; -21; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -21 z: 140, gripper: open, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: 42 y: -21 z: 80 , red-triangle x: 12 y: 57 z: 40])
|
* go close to it * from(42; -21; 140)* to (42; -21; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -21 z: 70, gripper: open, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: 42 y: -21 z: 80 , red-triangle x: 12 y: 57 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -21 z: 70, gripper: close, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: 42 y: -21 z: 80 , red-triangle x: 12 y: 57 z: 40])
|
* move up * from (42; -21; 70) * to (42; -21; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -21 z: 380, gripper: close, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: 42 y: -21 z: 380 , red-triangle x: 12 y: 57 z: 40])
|
* go above the other element * from (42; -21; 680) * to (-37; -46; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -46 z: 300, gripper: close, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: -37 y: -46 z: 300 , red-triangle x: 12 y: 57 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -46 z: 300, gripper: open, black-cup x: -37 y: -46 z: 0 , green-circle x: -28 y: 43 z: 40 , green-rectangle x: -13 y: 41 z: 80 , grey-rectangle x: -6 y: 10 z: 80 , red-rectangle x: -37 y: -46 z: 0 , red-triangle x: 12 y: 57 z: 40])
|
* go home * from (-37; -46; 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: -34 y: -21 z: 0 , green-circle x: -28 y: -4 z: 40 , green-rectangle x: -51 y: -52 z: 80 , grey-rectangle x: -4 y: 36 z: 80 , red-rectangle x: 21 y: -3 z: 80 , red-triangle x: 17 y: -36 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (17; -36; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 17 y: -36 z: 100, gripper: open, black-cup x: -34 y: -21 z: 0 , green-circle x: -28 y: -4 z: 40 , green-rectangle x: -51 y: -52 z: 80 , grey-rectangle x: -4 y: 36 z: 80 , red-rectangle x: 21 y: -3 z: 80 , red-triangle x: 17 y: -36 z: 40])
|
* go close to it * from(17; -36; 100)* to (17; -36; 30)
|
take the red-triangle and put it inside the black cup
|
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