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table([ eof x: 41 y: 45 z: 300, gripper: open, black-cup x: 41 y: 45 z: 0 , green-circle x: 16 y: 38 z: 40 , green-rectangle x: 5 y: 28 z: 80 , grey-rectangle x: 41 y: 45 z: 0 , red-rectangle x: 12 y: -39 z: 80 , red-triangle x: 48 y: 9 z: 40])
* go home * from (41; 45; 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: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -51 y: -42 z: 80 , red-triangle x: 37 y: 48 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-51; -42; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -51 y: -42 z: 140, gripper: open, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -51 y: -42 z: 80 , red-triangle x: 37 y: 48 z: 40])
* go close to it * from(-51; -42; 140)* to (-51; -42; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -51 y: -42 z: 70, gripper: open, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -51 y: -42 z: 80 , red-triangle x: 37 y: 48 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -51 y: -42 z: 70, gripper: close, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -51 y: -42 z: 80 , red-triangle x: 37 y: 48 z: 40])
* move up * from (-51; -42; 70) * to (-51; -42; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -51 y: -42 z: 380, gripper: close, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -51 y: -42 z: 380 , red-triangle x: 37 y: 48 z: 40])
* go above the other element * from (-51; -42; 680) * to (-4; 5; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -4 y: 5 z: 300, gripper: close, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -4 y: 5 z: 300 , red-triangle x: 37 y: 48 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -4 y: 5 z: 300, gripper: open, black-cup x: -4 y: 5 z: 0 , green-circle x: -58 y: 0 z: 40 , green-rectangle x: 42 y: -45 z: 80 , grey-rectangle x: 14 y: 14 z: 80 , red-rectangle x: -4 y: 5 z: 0 , red-triangle x: 37 y: 48 z: 40])
* go home * from (-4; 5; 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: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: -24 y: -10 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-24; -10; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 100, gripper: open, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: -24 y: -10 z: 40])
* go close to it * from(-24; -10; 100)* to (-24; -10; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 30, gripper: open, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: -24 y: -10 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 30, gripper: close, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: -24 y: -10 z: 40])
* move up * from (-24; -10; 30) * to (-24; -10; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 340, gripper: close, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: -24 y: -10 z: 340])
* go above the other element * from (-24; -10; 640) * to (17; 24; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 17 y: 24 z: 300, gripper: close, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: 17 y: 24 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 17 y: 24 z: 300, gripper: open, black-cup x: 17 y: 24 z: 0 , green-circle x: -55 y: -32 z: 40 , green-rectangle x: 44 y: -30 z: 80 , grey-rectangle x: 31 y: 41 z: 80 , red-rectangle x: 48 y: 44 z: 80 , red-triangle x: 17 y: 24 z: 0])
* go home * from (17; 24; 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: -32 y: -43 z: 0 , green-circle x: -24 y: -34 z: 40 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-24; -34; 100)
take the green-circle and put it inside the black cup
table([ eof x: -24 y: -34 z: 100, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: -24 y: -34 z: 40 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* go close to it * from(-24; -34; 100)* to (-24; -34; 30)
take the green-circle and put it inside the black cup
table([ eof x: -24 y: -34 z: 30, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: -24 y: -34 z: 40 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -24 y: -34 z: 30, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: -24 y: -34 z: 40 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* move up * from (-24; -34; 30) * to (-24; -34; 340)
take the green-circle and put it inside the black cup
table([ eof x: -24 y: -34 z: 340, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: -24 y: -34 z: 340 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* go above the other element * from (-24; -34; 640) * to (-32; -43; 300)
take the green-circle and put it inside the black cup
table([ eof x: -32 y: -43 z: 300, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: -32 y: -43 z: 300 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -32 y: -43 z: 300, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: -32 y: -43 z: 0 , green-rectangle x: 55 y: -26 z: 80 , grey-rectangle x: 2 y: 22 z: 80 , red-rectangle x: -56 y: -57 z: 80 , red-triangle x: 49 y: 27 z: 40])
* go home * from (-32; -43; 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: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: 54 y: 14 z: 80 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* go above the element to pick * from (380; 0; 620) * to (54; 14; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 54 y: 14 z: 140, gripper: open, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: 54 y: 14 z: 80 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* go close to it * from(54; 14; 140)* to (54; 14; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 54 y: 14 z: 70, gripper: open, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: 54 y: 14 z: 80 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 54 y: 14 z: 70, gripper: close, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: 54 y: 14 z: 80 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* move up * from (54; 14; 70) * to (54; 14; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 54 y: 14 z: 380, gripper: close, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: 54 y: 14 z: 380 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* go above the other element * from (54; 14; 680) * to (-46; 4; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -46 y: 4 z: 300, gripper: close, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: -46 y: 4 z: 300 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -46 y: 4 z: 300, gripper: open, black-cup x: -46 y: 4 z: 0 , green-circle x: -7 y: 0 z: 40 , green-rectangle x: -46 y: 4 z: 0 , grey-rectangle x: -30 y: -42 z: 80 , red-rectangle x: -14 y: -51 z: 80 , red-triangle x: 23 y: 50 z: 40])
* go home * from (-46; 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: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 22 y: 2 z: 80 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* go above the element to pick * from (380; 0; 620) * to (22; 2; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 2 z: 140, gripper: open, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 22 y: 2 z: 80 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* go close to it * from(22; 2; 140)* to (22; 2; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 2 z: 70, gripper: open, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 22 y: 2 z: 80 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 2 z: 70, gripper: close, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 22 y: 2 z: 80 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* move up * from (22; 2; 70) * to (22; 2; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 2 z: 380, gripper: close, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 22 y: 2 z: 380 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* go above the other element * from (22; 2; 680) * to (30; -2; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 30 y: -2 z: 300, gripper: close, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 30 y: -2 z: 300 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 30 y: -2 z: 300, gripper: open, black-cup x: 30 y: -2 z: 0 , green-circle x: 0 y: -28 z: 40 , green-rectangle x: -4 y: 42 z: 80 , grey-rectangle x: 30 y: -2 z: 0 , red-rectangle x: 40 y: 24 z: 80 , red-triangle x: 14 y: -57 z: 40])
* go home * from (30; -2; 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: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: -30 y: 30 z: 80 , red-triangle x: -17 y: -2 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-30; 30; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -30 y: 30 z: 140, gripper: open, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: -30 y: 30 z: 80 , red-triangle x: -17 y: -2 z: 40])
* go close to it * from(-30; 30; 140)* to (-30; 30; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -30 y: 30 z: 70, gripper: open, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: -30 y: 30 z: 80 , red-triangle x: -17 y: -2 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -30 y: 30 z: 70, gripper: close, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: -30 y: 30 z: 80 , red-triangle x: -17 y: -2 z: 40])
* move up * from (-30; 30; 70) * to (-30; 30; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -30 y: 30 z: 380, gripper: close, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: -30 y: 30 z: 380 , red-triangle x: -17 y: -2 z: 40])
* go above the other element * from (-30; 30; 680) * to (7; 28; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 7 y: 28 z: 300, gripper: close, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: 7 y: 28 z: 300 , red-triangle x: -17 y: -2 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 7 y: 28 z: 300, gripper: open, black-cup x: 7 y: 28 z: 0 , green-circle x: -25 y: 10 z: 40 , green-rectangle x: 51 y: -17 z: 80 , grey-rectangle x: 0 y: 12 z: 80 , red-rectangle x: 7 y: 28 z: 0 , red-triangle x: -17 y: -2 z: 40])
* go home * from (7; 28; 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: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 41 y: -4 z: 40])
* go above the element to pick * from (380; 0; 620) * to (41; -4; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 41 y: -4 z: 100, gripper: open, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 41 y: -4 z: 40])
* go close to it * from(41; -4; 100)* to (41; -4; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 41 y: -4 z: 30, gripper: open, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 41 y: -4 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 41 y: -4 z: 30, gripper: close, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 41 y: -4 z: 40])
* move up * from (41; -4; 30) * to (41; -4; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 41 y: -4 z: 340, gripper: close, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 41 y: -4 z: 340])
* go above the other element * from (41; -4; 640) * to (40; 3; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 40 y: 3 z: 300, gripper: close, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 40 y: 3 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 40 y: 3 z: 300, gripper: open, black-cup x: 40 y: 3 z: 0 , green-circle x: -2 y: 7 z: 40 , green-rectangle x: -6 y: 51 z: 80 , grey-rectangle x: -3 y: -41 z: 80 , red-rectangle x: -7 y: 50 z: 80 , red-triangle x: 40 y: 3 z: 0])
* go home * from (40; 3; 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: 37 y: 31 z: 0 , green-circle x: -6 y: -18 z: 40 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-6; -18; 100)
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -18 z: 100, gripper: open, black-cup x: 37 y: 31 z: 0 , green-circle x: -6 y: -18 z: 40 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* go close to it * from(-6; -18; 100)* to (-6; -18; 30)
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -18 z: 30, gripper: open, black-cup x: 37 y: 31 z: 0 , green-circle x: -6 y: -18 z: 40 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -18 z: 30, gripper: close, black-cup x: 37 y: 31 z: 0 , green-circle x: -6 y: -18 z: 40 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* move up * from (-6; -18; 30) * to (-6; -18; 340)
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -18 z: 340, gripper: close, black-cup x: 37 y: 31 z: 0 , green-circle x: -6 y: -18 z: 340 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* go above the other element * from (-6; -18; 640) * to (37; 31; 300)
take the green-circle and put it inside the black cup
table([ eof x: 37 y: 31 z: 300, gripper: close, black-cup x: 37 y: 31 z: 0 , green-circle x: 37 y: 31 z: 300 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 37 y: 31 z: 300, gripper: open, black-cup x: 37 y: 31 z: 0 , green-circle x: 37 y: 31 z: 0 , green-rectangle x: 47 y: -52 z: 80 , grey-rectangle x: 4 y: -14 z: 80 , red-rectangle x: -8 y: 58 z: 80 , red-triangle x: 29 y: -2 z: 40])
* go home * from (37; 31; 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: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* go above the element to pick * from (380; 0; 620) * to (23; 55; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 140, gripper: open, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* go close to it * from(23; 55; 140)* to (23; 55; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 70, gripper: open, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 70, gripper: close, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* move up * from (23; 55; 70) * to (23; 55; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 380, gripper: close, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 23 y: 55 z: 380 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* go above the other element * from (23; 55; 680) * to (44; 34; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 44 y: 34 z: 300, gripper: close, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 44 y: 34 z: 300 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 44 y: 34 z: 300, gripper: open, black-cup x: 44 y: 34 z: 0 , green-circle x: 34 y: 10 z: 40 , green-rectangle x: 44 y: 34 z: 0 , grey-rectangle x: 7 y: -48 z: 80 , red-rectangle x: -52 y: -34 z: 80 , red-triangle x: 21 y: 21 z: 40])
* go home * from (44; 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: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -2 y: 53 z: 80 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-2; 53; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -2 y: 53 z: 140, gripper: open, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -2 y: 53 z: 80 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* go close to it * from(-2; 53; 140)* to (-2; 53; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -2 y: 53 z: 70, gripper: open, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -2 y: 53 z: 80 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -2 y: 53 z: 70, gripper: close, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -2 y: 53 z: 80 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* move up * from (-2; 53; 70) * to (-2; 53; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -2 y: 53 z: 380, gripper: close, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -2 y: 53 z: 380 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* go above the other element * from (-2; 53; 680) * to (-25; -4; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -25 y: -4 z: 300, gripper: close, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -25 y: -4 z: 300 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -25 y: -4 z: 300, gripper: open, black-cup x: -25 y: -4 z: 0 , green-circle x: -38 y: 46 z: 40 , green-rectangle x: -30 y: 26 z: 80 , grey-rectangle x: -25 y: -4 z: 0 , red-rectangle x: -52 y: 27 z: 80 , red-triangle x: -32 y: 35 z: 40])
* go home * from (-25; -4; 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: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: -6 y: -37 z: 80 , red-triangle x: -58 y: -30 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-6; -37; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -6 y: -37 z: 140, gripper: open, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: -6 y: -37 z: 80 , red-triangle x: -58 y: -30 z: 40])
* go close to it * from(-6; -37; 140)* to (-6; -37; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -6 y: -37 z: 70, gripper: open, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: -6 y: -37 z: 80 , red-triangle x: -58 y: -30 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -6 y: -37 z: 70, gripper: close, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: -6 y: -37 z: 80 , red-triangle x: -58 y: -30 z: 40])
* move up * from (-6; -37; 70) * to (-6; -37; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -6 y: -37 z: 380, gripper: close, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: -6 y: -37 z: 380 , red-triangle x: -58 y: -30 z: 40])
* go above the other element * from (-6; -37; 680) * to (3; -24; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 3 y: -24 z: 300, gripper: close, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: 3 y: -24 z: 300 , red-triangle x: -58 y: -30 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 3 y: -24 z: 300, gripper: open, black-cup x: 3 y: -24 z: 0 , green-circle x: -5 y: 1 z: 40 , green-rectangle x: -31 y: 38 z: 80 , grey-rectangle x: -39 y: 0 z: 80 , red-rectangle x: 3 y: -24 z: 0 , red-triangle x: -58 y: -30 z: 40])
* go home * from (3; -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: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -56 y: 58 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-56; 58; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 58 z: 100, gripper: open, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -56 y: 58 z: 40])
* go close to it * from(-56; 58; 100)* to (-56; 58; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 58 z: 30, gripper: open, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -56 y: 58 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 58 z: 30, gripper: close, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -56 y: 58 z: 40])
* move up * from (-56; 58; 30) * to (-56; 58; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 58 z: 340, gripper: close, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -56 y: 58 z: 340])
* go above the other element * from (-56; 58; 640) * to (-12; 44; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -12 y: 44 z: 300, gripper: close, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -12 y: 44 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -12 y: 44 z: 300, gripper: open, black-cup x: -12 y: 44 z: 0 , green-circle x: -35 y: -6 z: 40 , green-rectangle x: -12 y: -2 z: 80 , grey-rectangle x: 59 y: -6 z: 80 , red-rectangle x: 27 y: 13 z: 80 , red-triangle x: -12 y: 44 z: 0])
* go home * from (-12; 44; 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: 16 y: 41 z: 0 , green-circle x: -45 y: 11 z: 40 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-45; 11; 100)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 11 z: 100, gripper: open, black-cup x: 16 y: 41 z: 0 , green-circle x: -45 y: 11 z: 40 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* go close to it * from(-45; 11; 100)* to (-45; 11; 30)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 11 z: 30, gripper: open, black-cup x: 16 y: 41 z: 0 , green-circle x: -45 y: 11 z: 40 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 11 z: 30, gripper: close, black-cup x: 16 y: 41 z: 0 , green-circle x: -45 y: 11 z: 40 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* move up * from (-45; 11; 30) * to (-45; 11; 340)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 11 z: 340, gripper: close, black-cup x: 16 y: 41 z: 0 , green-circle x: -45 y: 11 z: 340 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* go above the other element * from (-45; 11; 640) * to (16; 41; 300)
take the green-circle and put it inside the black cup
table([ eof x: 16 y: 41 z: 300, gripper: close, black-cup x: 16 y: 41 z: 0 , green-circle x: 16 y: 41 z: 300 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 16 y: 41 z: 300, gripper: open, black-cup x: 16 y: 41 z: 0 , green-circle x: 16 y: 41 z: 0 , green-rectangle x: -12 y: -40 z: 80 , grey-rectangle x: -47 y: 36 z: 80 , red-rectangle x: 43 y: -3 z: 80 , red-triangle x: -43 y: 45 z: 40])
* go home * from (16; 41; 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: -20 y: -42 z: 0 , green-circle x: 21 y: -53 z: 40 , green-rectangle x: -22 y: 4 z: 80 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-22; 4; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -22 y: 4 z: 140, gripper: open, black-cup x: -20 y: -42 z: 0 , green-circle x: 21 y: -53 z: 40 , green-rectangle x: -22 y: 4 z: 80 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* go close to it * from(-22; 4; 140)* to (-22; 4; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -22 y: 4 z: 70, gripper: open, black-cup x: -20 y: -42 z: 0 , green-circle x: 21 y: -53 z: 40 , green-rectangle x: -22 y: 4 z: 80 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -22 y: 4 z: 70, gripper: close, black-cup x: -20 y: -42 z: 0 , green-circle x: 21 y: -53 z: 40 , green-rectangle x: -22 y: 4 z: 80 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* move up * from (-22; 4; 70) * to (-22; 4; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -22 y: 4 z: 380, gripper: close, black-cup x: -20 y: -42 z: 0 , green-circle x: 21 y: -53 z: 40 , green-rectangle x: -22 y: 4 z: 380 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* go above the other element * from (-22; 4; 680) * to (-20; -42; 300)
take the green-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: 21 y: -53 z: 40 , green-rectangle x: -20 y: -42 z: 300 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* leave the element * open gripper
take the green-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: 21 y: -53 z: 40 , green-rectangle x: -20 y: -42 z: 0 , grey-rectangle x: -58 y: 26 z: 80 , red-rectangle x: 35 y: 17 z: 80 , red-triangle x: -28 y: 44 z: 40])
* go home * from (-20; -42; 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: -56 y: 28 z: 0 , green-circle x: -8 y: -51 z: 40 , green-rectangle x: 32 y: 2 z: 80 , grey-rectangle x: 15 y: 43 z: 80 , red-rectangle x: -2 y: 59 z: 80 , red-triangle x: -49 y: 32 z: 40])
* go above the element to pick * from (380; 0; 620) * to (15; 43; 140)
take the grey-rectangle and put it inside the black cup