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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -8 y: -23 z: 0 , green-circle x: 47 y: 16 z: 40 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (47; 16; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 47 y: 16 z: 100, gripper: open, black-cup x: -8 y: -23 z: 0 , green-circle x: 47 y: 16 z: 40 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* go close to it * from(47; 16; 100)* to (47; 16; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 47 y: 16 z: 30, gripper: open, black-cup x: -8 y: -23 z: 0 , green-circle x: 47 y: 16 z: 40 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 47 y: 16 z: 30, gripper: close, black-cup x: -8 y: -23 z: 0 , green-circle x: 47 y: 16 z: 40 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* move up * from (47; 16; 30) * to (47; 16; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 47 y: 16 z: 340, gripper: close, black-cup x: -8 y: -23 z: 0 , green-circle x: 47 y: 16 z: 340 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* go above the other element * from (47; 16; 640) * to (-8; -23; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -23 z: 300, gripper: close, black-cup x: -8 y: -23 z: 0 , green-circle x: -8 y: -23 z: 300 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -23 z: 300, gripper: open, black-cup x: -8 y: -23 z: 0 , green-circle x: -8 y: -23 z: 0 , green-rectangle x: 4 y: 50 z: 80 , grey-rectangle x: 56 y: 18 z: 80 , red-rectangle x: 9 y: -42 z: 80 , red-triangle x: 44 y: -7 z: 40])
|
* go home * from (-8; -23; 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: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 26 y: -49 z: 80 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (26; -49; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 26 y: -49 z: 140, gripper: open, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 26 y: -49 z: 80 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* go close to it * from(26; -49; 140)* to (26; -49; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 26 y: -49 z: 70, gripper: open, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 26 y: -49 z: 80 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 26 y: -49 z: 70, gripper: close, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 26 y: -49 z: 80 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* move up * from (26; -49; 70) * to (26; -49; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 26 y: -49 z: 380, gripper: close, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 26 y: -49 z: 380 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* go above the other element * from (26; -49; 680) * to (23; -16; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 23 y: -16 z: 300, gripper: close, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 23 y: -16 z: 300 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 23 y: -16 z: 300, gripper: open, black-cup x: 23 y: -16 z: 0 , green-circle x: 11 y: 17 z: 40 , green-rectangle x: 23 y: -16 z: 0 , grey-rectangle x: 4 y: 6 z: 80 , red-rectangle x: -48 y: 44 z: 80 , red-triangle x: -6 y: -50 z: 40])
|
* go home * from (23; -16; 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: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -27 y: 33 z: 80 , red-rectangle x: -50 y: -8 z: 80 , red-triangle x: -41 y: 12 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-27; 33; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 33 z: 140, gripper: open, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -27 y: 33 z: 80 , red-rectangle x: -50 y: -8 z: 80 , red-triangle x: -41 y: 12 z: 40])
|
* go close to it * from(-27; 33; 140)* to (-27; 33; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 33 z: 70, gripper: open, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -27 y: 33 z: 80 , red-rectangle x: -50 y: -8 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: -27 y: 33 z: 70, gripper: close, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -27 y: 33 z: 80 , red-rectangle x: -50 y: -8 z: 80 , red-triangle x: -41 y: 12 z: 40])
|
* move up * from (-27; 33; 70) * to (-27; 33; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 33 z: 380, gripper: close, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -27 y: 33 z: 380 , red-rectangle x: -50 y: -8 z: 80 , red-triangle x: -41 y: 12 z: 40])
|
* go above the other element * from (-27; 33; 680) * to (-6; 40; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -6 y: 40 z: 300, gripper: close, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -6 y: 40 z: 300 , red-rectangle x: -50 y: -8 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: -6 y: 40 z: 300, gripper: open, black-cup x: -6 y: 40 z: 0 , green-circle x: 11 y: -52 z: 40 , green-rectangle x: -55 y: -23 z: 80 , grey-rectangle x: -6 y: 40 z: 0 , red-rectangle x: -50 y: -8 z: 80 , red-triangle x: -41 y: 12 z: 40])
|
* go home * from (-6; 40; 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: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: 55 y: -54 z: 80 , red-triangle x: -20 y: 52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (55; -54; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -54 z: 140, gripper: open, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: 55 y: -54 z: 80 , red-triangle x: -20 y: 52 z: 40])
|
* go close to it * from(55; -54; 140)* to (55; -54; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -54 z: 70, gripper: open, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: 55 y: -54 z: 80 , red-triangle x: -20 y: 52 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -54 z: 70, gripper: close, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: 55 y: -54 z: 80 , red-triangle x: -20 y: 52 z: 40])
|
* move up * from (55; -54; 70) * to (55; -54; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 55 y: -54 z: 380, gripper: close, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: 55 y: -54 z: 380 , red-triangle x: -20 y: 52 z: 40])
|
* go above the other element * from (55; -54; 680) * to (-40; 59; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -40 y: 59 z: 300, gripper: close, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: -40 y: 59 z: 300 , red-triangle x: -20 y: 52 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -40 y: 59 z: 300, gripper: open, black-cup x: -40 y: 59 z: 0 , green-circle x: 0 y: 20 z: 40 , green-rectangle x: 29 y: -16 z: 80 , grey-rectangle x: -26 y: -48 z: 80 , red-rectangle x: -40 y: 59 z: 0 , red-triangle x: -20 y: 52 z: 40])
|
* go home * from (-40; 59; 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: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: 0 y: 0 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; 0; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: 0 z: 100, gripper: open, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: 0 y: 0 z: 40])
|
* go close to it * from(0; 0; 100)* to (0; 0; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: 0 z: 30, gripper: open, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: 0 y: 0 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: 0 z: 30, gripper: close, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: 0 y: 0 z: 40])
|
* move up * from (0; 0; 30) * to (0; 0; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: 0 z: 340, gripper: close, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: 0 y: 0 z: 340])
|
* go above the other element * from (0; 0; 640) * to (-24; -8; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -8 z: 300, gripper: close, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: -24 y: -8 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -8 z: 300, gripper: open, black-cup x: -24 y: -8 z: 0 , green-circle x: 20 y: 57 z: 40 , green-rectangle x: -31 y: -30 z: 80 , grey-rectangle x: -31 y: -54 z: 80 , red-rectangle x: -27 y: -56 z: 80 , red-triangle x: -24 y: -8 z: 0])
|
* go home * from (-24; -8; 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: 51 y: -3 z: 0 , green-circle x: 9 y: 31 z: 40 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (9; 31; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 9 y: 31 z: 100, gripper: open, black-cup x: 51 y: -3 z: 0 , green-circle x: 9 y: 31 z: 40 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* go close to it * from(9; 31; 100)* to (9; 31; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 9 y: 31 z: 30, gripper: open, black-cup x: 51 y: -3 z: 0 , green-circle x: 9 y: 31 z: 40 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 9 y: 31 z: 30, gripper: close, black-cup x: 51 y: -3 z: 0 , green-circle x: 9 y: 31 z: 40 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* move up * from (9; 31; 30) * to (9; 31; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 9 y: 31 z: 340, gripper: close, black-cup x: 51 y: -3 z: 0 , green-circle x: 9 y: 31 z: 340 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* go above the other element * from (9; 31; 640) * to (51; -3; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -3 z: 300, gripper: close, black-cup x: 51 y: -3 z: 0 , green-circle x: 51 y: -3 z: 300 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -3 z: 300, gripper: open, black-cup x: 51 y: -3 z: 0 , green-circle x: 51 y: -3 z: 0 , green-rectangle x: -49 y: 9 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: -34 y: -33 z: 80 , red-triangle x: -38 y: -12 z: 40])
|
* go home * from (51; -3; 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: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 37 y: -36 z: 80 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (37; -36; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -36 z: 140, gripper: open, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 37 y: -36 z: 80 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* go close to it * from(37; -36; 140)* to (37; -36; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -36 z: 70, gripper: open, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 37 y: -36 z: 80 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -36 z: 70, gripper: close, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 37 y: -36 z: 80 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* move up * from (37; -36; 70) * to (37; -36; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -36 z: 380, gripper: close, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 37 y: -36 z: 380 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* go above the other element * from (37; -36; 680) * to (40; -36; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 40 y: -36 z: 300, gripper: close, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 40 y: -36 z: 300 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 40 y: -36 z: 300, gripper: open, black-cup x: 40 y: -36 z: 0 , green-circle x: 2 y: -20 z: 40 , green-rectangle x: 40 y: -36 z: 0 , grey-rectangle x: 5 y: 17 z: 80 , red-rectangle x: 38 y: 43 z: 80 , red-triangle x: -3 y: 39 z: 40])
|
* go home * from (40; -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: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -18 y: 50 z: 80 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-18; 50; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 50 z: 140, gripper: open, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -18 y: 50 z: 80 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* go close to it * from(-18; 50; 140)* to (-18; 50; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 50 z: 70, gripper: open, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -18 y: 50 z: 80 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 50 z: 70, gripper: close, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -18 y: 50 z: 80 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* move up * from (-18; 50; 70) * to (-18; 50; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 50 z: 380, gripper: close, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -18 y: 50 z: 380 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* go above the other element * from (-18; 50; 680) * to (-31; -27; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -27 z: 300, gripper: close, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -31 y: -27 z: 300 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -27 z: 300, gripper: open, black-cup x: -31 y: -27 z: 0 , green-circle x: 25 y: -35 z: 40 , green-rectangle x: 35 y: 14 z: 80 , grey-rectangle x: -31 y: -27 z: 0 , red-rectangle x: 40 y: 36 z: 80 , red-triangle x: 50 y: -57 z: 40])
|
* go home * from (-31; -27; 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: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 27 y: 6 z: 80 , red-triangle x: -47 y: 57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (27; 6; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 6 z: 140, gripper: open, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 27 y: 6 z: 80 , red-triangle x: -47 y: 57 z: 40])
|
* go close to it * from(27; 6; 140)* to (27; 6; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 6 z: 70, gripper: open, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 27 y: 6 z: 80 , red-triangle x: -47 y: 57 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 6 z: 70, gripper: close, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 27 y: 6 z: 80 , red-triangle x: -47 y: 57 z: 40])
|
* move up * from (27; 6; 70) * to (27; 6; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 6 z: 380, gripper: close, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 27 y: 6 z: 380 , red-triangle x: -47 y: 57 z: 40])
|
* go above the other element * from (27; 6; 680) * to (16; -32; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 300, gripper: close, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 16 y: -32 z: 300 , red-triangle x: -47 y: 57 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 300, gripper: open, black-cup x: 16 y: -32 z: 0 , green-circle x: 28 y: 40 z: 40 , green-rectangle x: -22 y: -38 z: 80 , grey-rectangle x: -56 y: -9 z: 80 , red-rectangle x: 16 y: -32 z: 0 , red-triangle x: -47 y: 57 z: 40])
|
* go home * from (16; -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: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 45 y: -8 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (45; -8; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 45 y: -8 z: 100, gripper: open, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 45 y: -8 z: 40])
|
* go close to it * from(45; -8; 100)* to (45; -8; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 45 y: -8 z: 30, gripper: open, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 45 y: -8 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 45 y: -8 z: 30, gripper: close, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 45 y: -8 z: 40])
|
* move up * from (45; -8; 30) * to (45; -8; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 45 y: -8 z: 340, gripper: close, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 45 y: -8 z: 340])
|
* go above the other element * from (45; -8; 640) * to (13; 48; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 13 y: 48 z: 300, gripper: close, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 13 y: 48 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 13 y: 48 z: 300, gripper: open, black-cup x: 13 y: 48 z: 0 , green-circle x: 24 y: -13 z: 40 , green-rectangle x: -1 y: -55 z: 80 , grey-rectangle x: -5 y: 52 z: 80 , red-rectangle x: -19 y: -22 z: 80 , red-triangle x: 13 y: 48 z: 0])
|
* go home * from (13; 48; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -24 y: -40 z: 0 , green-circle x: 8 y: 15 z: 40 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (8; 15; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 15 z: 100, gripper: open, black-cup x: -24 y: -40 z: 0 , green-circle x: 8 y: 15 z: 40 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* go close to it * from(8; 15; 100)* to (8; 15; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 15 z: 30, gripper: open, black-cup x: -24 y: -40 z: 0 , green-circle x: 8 y: 15 z: 40 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 15 z: 30, gripper: close, black-cup x: -24 y: -40 z: 0 , green-circle x: 8 y: 15 z: 40 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* move up * from (8; 15; 30) * to (8; 15; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 15 z: 340, gripper: close, black-cup x: -24 y: -40 z: 0 , green-circle x: 8 y: 15 z: 340 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* go above the other element * from (8; 15; 640) * to (-24; -40; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 300, gripper: close, black-cup x: -24 y: -40 z: 0 , green-circle x: -24 y: -40 z: 300 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 300, gripper: open, black-cup x: -24 y: -40 z: 0 , green-circle x: -24 y: -40 z: 0 , green-rectangle x: -19 y: -47 z: 80 , grey-rectangle x: -37 y: 37 z: 80 , red-rectangle x: -28 y: 37 z: 80 , red-triangle x: 4 y: 46 z: 40])
|
* go home * from (-24; -40; 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: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: 29 y: -59 z: 80 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (29; -59; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -59 z: 140, gripper: open, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: 29 y: -59 z: 80 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* go close to it * from(29; -59; 140)* to (29; -59; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -59 z: 70, gripper: open, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: 29 y: -59 z: 80 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -59 z: 70, gripper: close, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: 29 y: -59 z: 80 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* move up * from (29; -59; 70) * to (29; -59; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -59 z: 380, gripper: close, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: 29 y: -59 z: 380 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* go above the other element * from (29; -59; 680) * to (-41; 22; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 22 z: 300, gripper: close, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: -41 y: 22 z: 300 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 22 z: 300, gripper: open, black-cup x: -41 y: 22 z: 0 , green-circle x: 38 y: 59 z: 40 , green-rectangle x: -41 y: 22 z: 0 , grey-rectangle x: 26 y: 56 z: 80 , red-rectangle x: 37 y: 55 z: 80 , red-triangle x: -39 y: 1 z: 40])
|
* go home * from (-41; 22; 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: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 42 y: -51 z: 80 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (42; -51; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -51 z: 140, gripper: open, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 42 y: -51 z: 80 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* go close to it * from(42; -51; 140)* to (42; -51; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -51 z: 70, gripper: open, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 42 y: -51 z: 80 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -51 z: 70, gripper: close, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 42 y: -51 z: 80 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* move up * from (42; -51; 70) * to (42; -51; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 42 y: -51 z: 380, gripper: close, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 42 y: -51 z: 380 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* go above the other element * from (42; -51; 680) * to (41; -52; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -52 z: 300, gripper: close, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 41 y: -52 z: 300 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -52 z: 300, gripper: open, black-cup x: 41 y: -52 z: 0 , green-circle x: -52 y: 48 z: 40 , green-rectangle x: 5 y: 47 z: 80 , grey-rectangle x: 41 y: -52 z: 0 , red-rectangle x: -4 y: -3 z: 80 , red-triangle x: 47 y: 29 z: 40])
|
* go home * from (41; -52; 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: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 42 y: 32 z: 80 , red-triangle x: -30 y: -28 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (42; 32; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 32 z: 140, gripper: open, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 42 y: 32 z: 80 , red-triangle x: -30 y: -28 z: 40])
|
* go close to it * from(42; 32; 140)* to (42; 32; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 32 z: 70, gripper: open, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 42 y: 32 z: 80 , red-triangle x: -30 y: -28 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 32 z: 70, gripper: close, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 42 y: 32 z: 80 , red-triangle x: -30 y: -28 z: 40])
|
* move up * from (42; 32; 70) * to (42; 32; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 32 z: 380, gripper: close, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 42 y: 32 z: 380 , red-triangle x: -30 y: -28 z: 40])
|
* go above the other element * from (42; 32; 680) * to (12; 59; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: 59 z: 300, gripper: close, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 12 y: 59 z: 300 , red-triangle x: -30 y: -28 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: 59 z: 300, gripper: open, black-cup x: 12 y: 59 z: 0 , green-circle x: -50 y: -47 z: 40 , green-rectangle x: -19 y: 56 z: 80 , grey-rectangle x: -2 y: 32 z: 80 , red-rectangle x: 12 y: 59 z: 0 , red-triangle x: -30 y: -28 z: 40])
|
* go home * from (12; 59; 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: -10 y: 40 z: 0 , green-circle x: 7 y: 54 z: 40 , green-rectangle x: 0 y: 22 z: 80 , grey-rectangle x: -24 y: 22 z: 80 , red-rectangle x: -25 y: 38 z: 80 , red-triangle x: 42 y: -19 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (42; -19; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 42 y: -19 z: 100, gripper: open, black-cup x: -10 y: 40 z: 0 , green-circle x: 7 y: 54 z: 40 , green-rectangle x: 0 y: 22 z: 80 , grey-rectangle x: -24 y: 22 z: 80 , red-rectangle x: -25 y: 38 z: 80 , red-triangle x: 42 y: -19 z: 40])
|
* go close to it * from(42; -19; 100)* to (42; -19; 30)
|
take the red-triangle and put it inside the black cup
|
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