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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -43 y: 33 z: 0 , green-circle x: 0 y: -33 z: 40 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; -33; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: -33 z: 100, gripper: open, black-cup x: -43 y: 33 z: 0 , green-circle x: 0 y: -33 z: 40 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* go close to it * from(0; -33; 100)* to (0; -33; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: -33 z: 30, gripper: open, black-cup x: -43 y: 33 z: 0 , green-circle x: 0 y: -33 z: 40 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: -33 z: 30, gripper: close, black-cup x: -43 y: 33 z: 0 , green-circle x: 0 y: -33 z: 40 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* move up * from (0; -33; 30) * to (0; -33; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: -33 z: 340, gripper: close, black-cup x: -43 y: 33 z: 0 , green-circle x: 0 y: -33 z: 340 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* go above the other element * from (0; -33; 640) * to (-43; 33; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -43 y: 33 z: 300, gripper: close, black-cup x: -43 y: 33 z: 0 , green-circle x: -43 y: 33 z: 300 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -43 y: 33 z: 300, gripper: open, black-cup x: -43 y: 33 z: 0 , green-circle x: -43 y: 33 z: 0 , green-rectangle x: 42 y: -10 z: 80 , grey-rectangle x: -29 y: -21 z: 80 , red-rectangle x: 47 y: 33 z: 80 , red-triangle x: -28 y: 15 z: 40])
|
* go home * from (-43; 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: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: -35 y: -18 z: 80 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-35; -18; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -35 y: -18 z: 140, gripper: open, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: -35 y: -18 z: 80 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* go close to it * from(-35; -18; 140)* to (-35; -18; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -35 y: -18 z: 70, gripper: open, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: -35 y: -18 z: 80 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -35 y: -18 z: 70, gripper: close, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: -35 y: -18 z: 80 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* move up * from (-35; -18; 70) * to (-35; -18; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -35 y: -18 z: 380, gripper: close, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: -35 y: -18 z: 380 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* go above the other element * from (-35; -18; 680) * to (14; -45; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -45 z: 300, gripper: close, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: 14 y: -45 z: 300 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -45 z: 300, gripper: open, black-cup x: 14 y: -45 z: 0 , green-circle x: -22 y: -45 z: 40 , green-rectangle x: 14 y: -45 z: 0 , grey-rectangle x: -56 y: 51 z: 80 , red-rectangle x: -27 y: 45 z: 80 , red-triangle x: -53 y: -54 z: 40])
|
* go home * from (14; -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: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -31 y: -25 z: 80 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-31; -25; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -25 z: 140, gripper: open, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -31 y: -25 z: 80 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* go close to it * from(-31; -25; 140)* to (-31; -25; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -25 z: 70, gripper: open, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -31 y: -25 z: 80 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -25 z: 70, gripper: close, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -31 y: -25 z: 80 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* move up * from (-31; -25; 70) * to (-31; -25; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -25 z: 380, gripper: close, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -31 y: -25 z: 380 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* go above the other element * from (-31; -25; 680) * to (-19; 22; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 22 z: 300, gripper: close, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -19 y: 22 z: 300 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 22 z: 300, gripper: open, black-cup x: -19 y: 22 z: 0 , green-circle x: -27 y: 16 z: 40 , green-rectangle x: 56 y: 15 z: 80 , grey-rectangle x: -19 y: 22 z: 0 , red-rectangle x: -8 y: -12 z: 80 , red-triangle x: -11 y: -16 z: 40])
|
* go home * from (-19; 22; 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: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: -2 y: -32 z: 80 , red-triangle x: -24 y: -23 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-2; -32; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -2 y: -32 z: 140, gripper: open, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: -2 y: -32 z: 80 , red-triangle x: -24 y: -23 z: 40])
|
* go close to it * from(-2; -32; 140)* to (-2; -32; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -2 y: -32 z: 70, gripper: open, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: -2 y: -32 z: 80 , red-triangle x: -24 y: -23 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -2 y: -32 z: 70, gripper: close, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: -2 y: -32 z: 80 , red-triangle x: -24 y: -23 z: 40])
|
* move up * from (-2; -32; 70) * to (-2; -32; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -2 y: -32 z: 380, gripper: close, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: -2 y: -32 z: 380 , red-triangle x: -24 y: -23 z: 40])
|
* go above the other element * from (-2; -32; 680) * to (43; -26; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 300, gripper: close, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: 43 y: -26 z: 300 , red-triangle x: -24 y: -23 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 300, gripper: open, black-cup x: 43 y: -26 z: 0 , green-circle x: -55 y: -21 z: 40 , green-rectangle x: -46 y: -52 z: 80 , grey-rectangle x: -16 y: -47 z: 80 , red-rectangle x: 43 y: -26 z: 0 , red-triangle x: -24 y: -23 z: 40])
|
* go home * from (43; -26; 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: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 26 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (26; -46; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 26 y: -46 z: 100, gripper: open, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 26 y: -46 z: 40])
|
* go close to it * from(26; -46; 100)* to (26; -46; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 26 y: -46 z: 30, gripper: open, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 26 y: -46 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 26 y: -46 z: 30, gripper: close, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 26 y: -46 z: 40])
|
* move up * from (26; -46; 30) * to (26; -46; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 26 y: -46 z: 340, gripper: close, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 26 y: -46 z: 340])
|
* go above the other element * from (26; -46; 640) * to (16; -17; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 16 y: -17 z: 300, gripper: close, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 16 y: -17 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 16 y: -17 z: 300, gripper: open, black-cup x: 16 y: -17 z: 0 , green-circle x: -3 y: -1 z: 40 , green-rectangle x: 56 y: 12 z: 80 , grey-rectangle x: 45 y: -43 z: 80 , red-rectangle x: -15 y: 10 z: 80 , red-triangle x: 16 y: -17 z: 0])
|
* go home * from (16; -17; 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: -3 y: 59 z: 0 , green-circle x: -53 y: -18 z: 40 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-53; -18; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -53 y: -18 z: 100, gripper: open, black-cup x: -3 y: 59 z: 0 , green-circle x: -53 y: -18 z: 40 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* go close to it * from(-53; -18; 100)* to (-53; -18; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -53 y: -18 z: 30, gripper: open, black-cup x: -3 y: 59 z: 0 , green-circle x: -53 y: -18 z: 40 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -53 y: -18 z: 30, gripper: close, black-cup x: -3 y: 59 z: 0 , green-circle x: -53 y: -18 z: 40 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* move up * from (-53; -18; 30) * to (-53; -18; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -53 y: -18 z: 340, gripper: close, black-cup x: -3 y: 59 z: 0 , green-circle x: -53 y: -18 z: 340 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* go above the other element * from (-53; -18; 640) * to (-3; 59; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: 59 z: 300, gripper: close, black-cup x: -3 y: 59 z: 0 , green-circle x: -3 y: 59 z: 300 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: 59 z: 300, gripper: open, black-cup x: -3 y: 59 z: 0 , green-circle x: -3 y: 59 z: 0 , green-rectangle x: 35 y: 2 z: 80 , grey-rectangle x: -45 y: -46 z: 80 , red-rectangle x: -24 y: -2 z: 80 , red-triangle x: 32 y: -4 z: 40])
|
* go home * from (-3; 59; 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: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -6 y: -22 z: 80 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-6; -22; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -6 y: -22 z: 140, gripper: open, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -6 y: -22 z: 80 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* go close to it * from(-6; -22; 140)* to (-6; -22; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -6 y: -22 z: 70, gripper: open, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -6 y: -22 z: 80 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -6 y: -22 z: 70, gripper: close, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -6 y: -22 z: 80 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* move up * from (-6; -22; 70) * to (-6; -22; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -6 y: -22 z: 380, gripper: close, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -6 y: -22 z: 380 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* go above the other element * from (-6; -22; 680) * to (-52; 26; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -52 y: 26 z: 300, gripper: close, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -52 y: 26 z: 300 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -52 y: 26 z: 300, gripper: open, black-cup x: -52 y: 26 z: 0 , green-circle x: -5 y: -15 z: 40 , green-rectangle x: -52 y: 26 z: 0 , grey-rectangle x: 55 y: -51 z: 80 , red-rectangle x: -44 y: -49 z: 80 , red-triangle x: 23 y: -9 z: 40])
|
* go home * from (-52; 26; 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: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: 43 y: -26 z: 80 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (43; -26; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 140, gripper: open, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: 43 y: -26 z: 80 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* go close to it * from(43; -26; 140)* to (43; -26; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 70, gripper: open, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: 43 y: -26 z: 80 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 70, gripper: close, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: 43 y: -26 z: 80 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* move up * from (43; -26; 70) * to (43; -26; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 43 y: -26 z: 380, gripper: close, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: 43 y: -26 z: 380 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* go above the other element * from (43; -26; 680) * to (-39; -36; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: -36 z: 300, gripper: close, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: -39 y: -36 z: 300 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: -36 z: 300, gripper: open, black-cup x: -39 y: -36 z: 0 , green-circle x: 32 y: -43 z: 40 , green-rectangle x: -22 y: 27 z: 80 , grey-rectangle x: -39 y: -36 z: 0 , red-rectangle x: -14 y: 54 z: 80 , red-triangle x: 36 y: 50 z: 40])
|
* go home * from (-39; -36; 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: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: -46 y: 15 z: 80 , red-triangle x: 9 y: -38 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-46; 15; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 15 z: 140, gripper: open, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: -46 y: 15 z: 80 , red-triangle x: 9 y: -38 z: 40])
|
* go close to it * from(-46; 15; 140)* to (-46; 15; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 15 z: 70, gripper: open, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: -46 y: 15 z: 80 , red-triangle x: 9 y: -38 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 15 z: 70, gripper: close, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: -46 y: 15 z: 80 , red-triangle x: 9 y: -38 z: 40])
|
* move up * from (-46; 15; 70) * to (-46; 15; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 15 z: 380, gripper: close, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: -46 y: 15 z: 380 , red-triangle x: 9 y: -38 z: 40])
|
* go above the other element * from (-46; 15; 680) * to (39; -1; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -1 z: 300, gripper: close, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: 39 y: -1 z: 300 , red-triangle x: 9 y: -38 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -1 z: 300, gripper: open, black-cup x: 39 y: -1 z: 0 , green-circle x: 13 y: 5 z: 40 , green-rectangle x: 7 y: 17 z: 80 , grey-rectangle x: -31 y: -29 z: 80 , red-rectangle x: 39 y: -1 z: 0 , red-triangle x: 9 y: -38 z: 40])
|
* go home * from (39; -1; 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: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: -2 y: 7 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-2; 7; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: 7 z: 100, gripper: open, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: -2 y: 7 z: 40])
|
* go close to it * from(-2; 7; 100)* to (-2; 7; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: 7 z: 30, gripper: open, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: -2 y: 7 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: 7 z: 30, gripper: close, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: -2 y: 7 z: 40])
|
* move up * from (-2; 7; 30) * to (-2; 7; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -2 y: 7 z: 340, gripper: close, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: -2 y: 7 z: 340])
|
* go above the other element * from (-2; 7; 640) * to (9; -4; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -4 z: 300, gripper: close, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: 9 y: -4 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -4 z: 300, gripper: open, black-cup x: 9 y: -4 z: 0 , green-circle x: 59 y: 27 z: 40 , green-rectangle x: -52 y: 55 z: 80 , grey-rectangle x: 40 y: 58 z: 80 , red-rectangle x: -50 y: 6 z: 80 , red-triangle x: 9 y: -4 z: 0])
|
* go home * from (9; -4; 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: -3 y: 37 z: 0 , green-circle x: -19 y: 30 z: 40 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-19; 30; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 30 z: 100, gripper: open, black-cup x: -3 y: 37 z: 0 , green-circle x: -19 y: 30 z: 40 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* go close to it * from(-19; 30; 100)* to (-19; 30; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 30 z: 30, gripper: open, black-cup x: -3 y: 37 z: 0 , green-circle x: -19 y: 30 z: 40 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 30 z: 30, gripper: close, black-cup x: -3 y: 37 z: 0 , green-circle x: -19 y: 30 z: 40 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* move up * from (-19; 30; 30) * to (-19; 30; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 30 z: 340, gripper: close, black-cup x: -3 y: 37 z: 0 , green-circle x: -19 y: 30 z: 340 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* go above the other element * from (-19; 30; 640) * to (-3; 37; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: 37 z: 300, gripper: close, black-cup x: -3 y: 37 z: 0 , green-circle x: -3 y: 37 z: 300 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: 37 z: 300, gripper: open, black-cup x: -3 y: 37 z: 0 , green-circle x: -3 y: 37 z: 0 , green-rectangle x: 37 y: 28 z: 80 , grey-rectangle x: -11 y: 32 z: 80 , red-rectangle x: 33 y: -28 z: 80 , red-triangle x: -1 y: 20 z: 40])
|
* go home * from (-3; 37; 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: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: 14 y: -54 z: 80 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (14; -54; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -54 z: 140, gripper: open, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: 14 y: -54 z: 80 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* go close to it * from(14; -54; 140)* to (14; -54; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -54 z: 70, gripper: open, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: 14 y: -54 z: 80 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -54 z: 70, gripper: close, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: 14 y: -54 z: 80 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* move up * from (14; -54; 70) * to (14; -54; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -54 z: 380, gripper: close, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: 14 y: -54 z: 380 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* go above the other element * from (14; -54; 680) * to (-30; -8; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -8 z: 300, gripper: close, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: -30 y: -8 z: 300 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -30 y: -8 z: 300, gripper: open, black-cup x: -30 y: -8 z: 0 , green-circle x: 39 y: 32 z: 40 , green-rectangle x: -30 y: -8 z: 0 , grey-rectangle x: -46 y: 26 z: 80 , red-rectangle x: -10 y: 14 z: 80 , red-triangle x: 35 y: -6 z: 40])
|
* go home * from (-30; -8; 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: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 37 y: -5 z: 80 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (37; -5; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -5 z: 140, gripper: open, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 37 y: -5 z: 80 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* go close to it * from(37; -5; 140)* to (37; -5; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -5 z: 70, gripper: open, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 37 y: -5 z: 80 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -5 z: 70, gripper: close, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 37 y: -5 z: 80 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* move up * from (37; -5; 70) * to (37; -5; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -5 z: 380, gripper: close, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 37 y: -5 z: 380 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* go above the other element * from (37; -5; 680) * to (5; 41; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 41 z: 300, gripper: close, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 5 y: 41 z: 300 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 41 z: 300, gripper: open, black-cup x: 5 y: 41 z: 0 , green-circle x: -35 y: 32 z: 40 , green-rectangle x: 28 y: 57 z: 80 , grey-rectangle x: 5 y: 41 z: 0 , red-rectangle x: 18 y: -15 z: 80 , red-triangle x: -50 y: 17 z: 40])
|
* go home * from (5; 41; 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: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: 33 y: 26 z: 80 , red-triangle x: 48 y: -32 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (33; 26; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 26 z: 140, gripper: open, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: 33 y: 26 z: 80 , red-triangle x: 48 y: -32 z: 40])
|
* go close to it * from(33; 26; 140)* to (33; 26; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 26 z: 70, gripper: open, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: 33 y: 26 z: 80 , red-triangle x: 48 y: -32 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 26 z: 70, gripper: close, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: 33 y: 26 z: 80 , red-triangle x: 48 y: -32 z: 40])
|
* move up * from (33; 26; 70) * to (33; 26; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 26 z: 380, gripper: close, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: 33 y: 26 z: 380 , red-triangle x: 48 y: -32 z: 40])
|
* go above the other element * from (33; 26; 680) * to (-55; -33; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -55 y: -33 z: 300, gripper: close, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: -55 y: -33 z: 300 , red-triangle x: 48 y: -32 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -55 y: -33 z: 300, gripper: open, black-cup x: -55 y: -33 z: 0 , green-circle x: -8 y: 12 z: 40 , green-rectangle x: -8 y: -29 z: 80 , grey-rectangle x: -23 y: -10 z: 80 , red-rectangle x: -55 y: -33 z: 0 , red-triangle x: 48 y: -32 z: 40])
|
* go home * from (-55; -33; 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: -15 y: -33 z: 0 , green-circle x: -19 y: -8 z: 40 , green-rectangle x: -36 y: -48 z: 80 , grey-rectangle x: -11 y: -25 z: 80 , red-rectangle x: 58 y: -35 z: 80 , red-triangle x: -23 y: 19 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-23; 19; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -23 y: 19 z: 100, gripper: open, black-cup x: -15 y: -33 z: 0 , green-circle x: -19 y: -8 z: 40 , green-rectangle x: -36 y: -48 z: 80 , grey-rectangle x: -11 y: -25 z: 80 , red-rectangle x: 58 y: -35 z: 80 , red-triangle x: -23 y: 19 z: 40])
|
* go close to it * from(-23; 19; 100)* to (-23; 19; 30)
|
take the red-triangle and put it inside the black cup
|
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