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table([ eof x: 38 y: -20 z: 300, gripper: close, black-cup x: 38 y: -20 z: 0 , green-circle x: 38 y: -20 z: 300 , green-rectangle x: -33 y: -20 z: 80 , grey-rectangle x: -40 y: -46 z: 80 , red-rectangle x: 13 y: -21 z: 80 , red-triangle x: -39 y: 0 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 38 y: -20 z: 300, gripper: open, black-cup x: 38 y: -20 z: 0 , green-circle x: 38 y: -20 z: 0 , green-rectangle x: -33 y: -20 z: 80 , grey-rectangle x: -40 y: -46 z: 80 , red-rectangle x: 13 y: -21 z: 80 , red-triangle x: -39 y: 0 z: 40])
|
* go home * from (38; -20; 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: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 44 y: 9 z: 80 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (44; 9; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: 9 z: 140, gripper: open, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 44 y: 9 z: 80 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* go close to it * from(44; 9; 140)* to (44; 9; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: 9 z: 70, gripper: open, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 44 y: 9 z: 80 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: 9 z: 70, gripper: close, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 44 y: 9 z: 80 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* move up * from (44; 9; 70) * to (44; 9; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: 9 z: 380, gripper: close, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 44 y: 9 z: 380 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* go above the other element * from (44; 9; 680) * to (1; -51; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 1 y: -51 z: 300, gripper: close, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 1 y: -51 z: 300 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 1 y: -51 z: 300, gripper: open, black-cup x: 1 y: -51 z: 0 , green-circle x: -23 y: -58 z: 40 , green-rectangle x: 1 y: -51 z: 0 , grey-rectangle x: -15 y: -41 z: 80 , red-rectangle x: 31 y: -35 z: 80 , red-triangle x: -45 y: 4 z: 40])
|
* go home * from (1; -51; 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: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -17 y: 13 z: 80 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-17; 13; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 13 z: 140, gripper: open, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -17 y: 13 z: 80 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* go close to it * from(-17; 13; 140)* to (-17; 13; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 13 z: 70, gripper: open, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -17 y: 13 z: 80 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 13 z: 70, gripper: close, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -17 y: 13 z: 80 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* move up * from (-17; 13; 70) * to (-17; 13; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 13 z: 380, gripper: close, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -17 y: 13 z: 380 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* go above the other element * from (-17; 13; 680) * to (-10; 8; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -10 y: 8 z: 300, gripper: close, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -10 y: 8 z: 300 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -10 y: 8 z: 300, gripper: open, black-cup x: -10 y: 8 z: 0 , green-circle x: 43 y: -18 z: 40 , green-rectangle x: 23 y: 40 z: 80 , grey-rectangle x: -10 y: 8 z: 0 , red-rectangle x: -17 y: -48 z: 80 , red-triangle x: 51 y: -41 z: 40])
|
* go home * from (-10; 8; 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: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: 40 y: 4 z: 80 , red-triangle x: 29 y: -33 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (40; 4; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 40 y: 4 z: 140, gripper: open, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: 40 y: 4 z: 80 , red-triangle x: 29 y: -33 z: 40])
|
* go close to it * from(40; 4; 140)* to (40; 4; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 40 y: 4 z: 70, gripper: open, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: 40 y: 4 z: 80 , red-triangle x: 29 y: -33 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 40 y: 4 z: 70, gripper: close, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: 40 y: 4 z: 80 , red-triangle x: 29 y: -33 z: 40])
|
* move up * from (40; 4; 70) * to (40; 4; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 40 y: 4 z: 380, gripper: close, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: 40 y: 4 z: 380 , red-triangle x: 29 y: -33 z: 40])
|
* go above the other element * from (40; 4; 680) * to (-51; -2; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: -2 z: 300, gripper: close, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: -51 y: -2 z: 300 , red-triangle x: 29 y: -33 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: -2 z: 300, gripper: open, black-cup x: -51 y: -2 z: 0 , green-circle x: -8 y: 8 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -57 y: -14 z: 80 , red-rectangle x: -51 y: -2 z: 0 , red-triangle x: 29 y: -33 z: 40])
|
* go home * from (-51; -2; 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: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: 18 y: -40 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (18; -40; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 18 y: -40 z: 100, gripper: open, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: 18 y: -40 z: 40])
|
* go close to it * from(18; -40; 100)* to (18; -40; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 18 y: -40 z: 30, gripper: open, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: 18 y: -40 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 18 y: -40 z: 30, gripper: close, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: 18 y: -40 z: 40])
|
* move up * from (18; -40; 30) * to (18; -40; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 18 y: -40 z: 340, gripper: close, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: 18 y: -40 z: 340])
|
* go above the other element * from (18; -40; 640) * to (-7; -13; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -7 y: -13 z: 300, gripper: close, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: -7 y: -13 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -7 y: -13 z: 300, gripper: open, black-cup x: -7 y: -13 z: 0 , green-circle x: 24 y: 29 z: 40 , green-rectangle x: -35 y: -56 z: 80 , grey-rectangle x: -20 y: 57 z: 80 , red-rectangle x: 16 y: -21 z: 80 , red-triangle x: -7 y: -13 z: 0])
|
* go home * from (-7; -13; 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: -16 z: 0 , green-circle x: -31 y: -10 z: 40 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-31; -10; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 100, gripper: open, black-cup x: 32 y: -16 z: 0 , green-circle x: -31 y: -10 z: 40 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* go close to it * from(-31; -10; 100)* to (-31; -10; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 30, gripper: open, black-cup x: 32 y: -16 z: 0 , green-circle x: -31 y: -10 z: 40 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 30, gripper: close, black-cup x: 32 y: -16 z: 0 , green-circle x: -31 y: -10 z: 40 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* move up * from (-31; -10; 30) * to (-31; -10; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 340, gripper: close, black-cup x: 32 y: -16 z: 0 , green-circle x: -31 y: -10 z: 340 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* go above the other element * from (-31; -10; 640) * to (32; -16; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 32 y: -16 z: 300, gripper: close, black-cup x: 32 y: -16 z: 0 , green-circle x: 32 y: -16 z: 300 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 32 y: -16 z: 300, gripper: open, black-cup x: 32 y: -16 z: 0 , green-circle x: 32 y: -16 z: 0 , green-rectangle x: -57 y: -57 z: 80 , grey-rectangle x: 53 y: -19 z: 80 , red-rectangle x: -12 y: -41 z: 80 , red-triangle x: -38 y: -26 z: 40])
|
* go home * from (32; -16; 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: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -11 y: -1 z: 80 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-11; -1; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -1 z: 140, gripper: open, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -11 y: -1 z: 80 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* go close to it * from(-11; -1; 140)* to (-11; -1; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -1 z: 70, gripper: open, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -11 y: -1 z: 80 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -1 z: 70, gripper: close, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -11 y: -1 z: 80 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* move up * from (-11; -1; 70) * to (-11; -1; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -1 z: 380, gripper: close, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -11 y: -1 z: 380 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* go above the other element * from (-11; -1; 680) * to (-16; 46; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -16 y: 46 z: 300, gripper: close, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -16 y: 46 z: 300 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -16 y: 46 z: 300, gripper: open, black-cup x: -16 y: 46 z: 0 , green-circle x: 24 y: -38 z: 40 , green-rectangle x: -16 y: 46 z: 0 , grey-rectangle x: 57 y: 43 z: 80 , red-rectangle x: 35 y: 59 z: 80 , red-triangle x: 17 y: 42 z: 40])
|
* go home * from (-16; 46; 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: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: -52 y: -49 z: 80 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-52; -49; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -52 y: -49 z: 140, gripper: open, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: -52 y: -49 z: 80 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* go close to it * from(-52; -49; 140)* to (-52; -49; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -52 y: -49 z: 70, gripper: open, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: -52 y: -49 z: 80 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -52 y: -49 z: 70, gripper: close, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: -52 y: -49 z: 80 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* move up * from (-52; -49; 70) * to (-52; -49; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -52 y: -49 z: 380, gripper: close, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: -52 y: -49 z: 380 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* go above the other element * from (-52; -49; 680) * to (38; -6; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 38 y: -6 z: 300, gripper: close, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: 38 y: -6 z: 300 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 38 y: -6 z: 300, gripper: open, black-cup x: 38 y: -6 z: 0 , green-circle x: -15 y: -20 z: 40 , green-rectangle x: 28 y: 14 z: 80 , grey-rectangle x: 38 y: -6 z: 0 , red-rectangle x: 30 y: 33 z: 80 , red-triangle x: 44 y: -55 z: 40])
|
* go home * from (38; -6; 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: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: 15 y: 6 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (15; 6; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 6 z: 140, gripper: open, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: 15 y: 6 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go close to it * from(15; 6; 140)* to (15; 6; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 6 z: 70, gripper: open, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: 15 y: 6 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 6 z: 70, gripper: close, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: 15 y: 6 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* move up * from (15; 6; 70) * to (15; 6; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: 6 z: 380, gripper: close, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: 15 y: 6 z: 380 , red-triangle x: 0 y: 2 z: 40])
|
* go above the other element * from (15; 6; 680) * to (-15; -50; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -50 z: 300, gripper: close, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: -15 y: -50 z: 300 , red-triangle x: 0 y: 2 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -50 z: 300, gripper: open, black-cup x: -15 y: -50 z: 0 , green-circle x: -19 y: -49 z: 40 , green-rectangle x: -33 y: 53 z: 80 , grey-rectangle x: -33 y: 50 z: 80 , red-rectangle x: -15 y: -50 z: 0 , red-triangle x: 0 y: 2 z: 40])
|
* go home * from (-15; -50; 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: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: -11 y: -20 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-11; -20; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -11 y: -20 z: 100, gripper: open, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: -11 y: -20 z: 40])
|
* go close to it * from(-11; -20; 100)* to (-11; -20; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -11 y: -20 z: 30, gripper: open, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: -11 y: -20 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -11 y: -20 z: 30, gripper: close, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: -11 y: -20 z: 40])
|
* move up * from (-11; -20; 30) * to (-11; -20; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -11 y: -20 z: 340, gripper: close, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: -11 y: -20 z: 340])
|
* go above the other element * from (-11; -20; 640) * to (9; -13; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -13 z: 300, gripper: close, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: 9 y: -13 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -13 z: 300, gripper: open, black-cup x: 9 y: -13 z: 0 , green-circle x: 0 y: 17 z: 40 , green-rectangle x: -59 y: -4 z: 80 , grey-rectangle x: 13 y: -4 z: 80 , red-rectangle x: 10 y: 45 z: 80 , red-triangle x: 9 y: -13 z: 0])
|
* go home * from (9; -13; 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: 38 y: 20 z: 0 , green-circle x: 34 y: 52 z: 40 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (34; 52; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 34 y: 52 z: 100, gripper: open, black-cup x: 38 y: 20 z: 0 , green-circle x: 34 y: 52 z: 40 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* go close to it * from(34; 52; 100)* to (34; 52; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 34 y: 52 z: 30, gripper: open, black-cup x: 38 y: 20 z: 0 , green-circle x: 34 y: 52 z: 40 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 34 y: 52 z: 30, gripper: close, black-cup x: 38 y: 20 z: 0 , green-circle x: 34 y: 52 z: 40 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* move up * from (34; 52; 30) * to (34; 52; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 34 y: 52 z: 340, gripper: close, black-cup x: 38 y: 20 z: 0 , green-circle x: 34 y: 52 z: 340 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* go above the other element * from (34; 52; 640) * to (38; 20; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 38 y: 20 z: 300, gripper: close, black-cup x: 38 y: 20 z: 0 , green-circle x: 38 y: 20 z: 300 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 38 y: 20 z: 300, gripper: open, black-cup x: 38 y: 20 z: 0 , green-circle x: 38 y: 20 z: 0 , green-rectangle x: 24 y: 44 z: 80 , grey-rectangle x: 1 y: -32 z: 80 , red-rectangle x: -53 y: -13 z: 80 , red-triangle x: 59 y: -22 z: 40])
|
* go home * from (38; 20; 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: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: 19 y: -19 z: 80 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (19; -19; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -19 z: 140, gripper: open, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: 19 y: -19 z: 80 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* go close to it * from(19; -19; 140)* to (19; -19; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -19 z: 70, gripper: open, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: 19 y: -19 z: 80 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -19 z: 70, gripper: close, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: 19 y: -19 z: 80 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* move up * from (19; -19; 70) * to (19; -19; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 19 y: -19 z: 380, gripper: close, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: 19 y: -19 z: 380 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* go above the other element * from (19; -19; 680) * to (-2; 55; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 55 z: 300, gripper: close, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: -2 y: 55 z: 300 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 55 z: 300, gripper: open, black-cup x: -2 y: 55 z: 0 , green-circle x: -56 y: 2 z: 40 , green-rectangle x: -2 y: 55 z: 0 , grey-rectangle x: -24 y: -59 z: 80 , red-rectangle x: -9 y: 49 z: 80 , red-triangle x: 28 y: 21 z: 40])
|
* go home * from (-2; 55; 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: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: -48 y: -36 z: 80 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-48; -36; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -48 y: -36 z: 140, gripper: open, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: -48 y: -36 z: 80 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* go close to it * from(-48; -36; 140)* to (-48; -36; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -48 y: -36 z: 70, gripper: open, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: -48 y: -36 z: 80 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -48 y: -36 z: 70, gripper: close, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: -48 y: -36 z: 80 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* move up * from (-48; -36; 70) * to (-48; -36; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -48 y: -36 z: 380, gripper: close, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: -48 y: -36 z: 380 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* go above the other element * from (-48; -36; 680) * to (5; 10; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 10 z: 300, gripper: close, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: 5 y: 10 z: 300 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 10 z: 300, gripper: open, black-cup x: 5 y: 10 z: 0 , green-circle x: -57 y: 32 z: 40 , green-rectangle x: 26 y: -34 z: 80 , grey-rectangle x: 5 y: 10 z: 0 , red-rectangle x: -17 y: -5 z: 80 , red-triangle x: 18 y: -23 z: 40])
|
* go home * from (5; 10; 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: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: -33 y: -44 z: 80 , red-triangle x: 56 y: 59 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-33; -44; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -44 z: 140, gripper: open, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: -33 y: -44 z: 80 , red-triangle x: 56 y: 59 z: 40])
|
* go close to it * from(-33; -44; 140)* to (-33; -44; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -44 z: 70, gripper: open, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: -33 y: -44 z: 80 , red-triangle x: 56 y: 59 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -44 z: 70, gripper: close, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: -33 y: -44 z: 80 , red-triangle x: 56 y: 59 z: 40])
|
* move up * from (-33; -44; 70) * to (-33; -44; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -44 z: 380, gripper: close, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: -33 y: -44 z: 380 , red-triangle x: 56 y: 59 z: 40])
|
* go above the other element * from (-33; -44; 680) * to (29; 24; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 24 z: 300, gripper: close, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 29 y: 24 z: 300 , red-triangle x: 56 y: 59 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 24 z: 300, gripper: open, black-cup x: 29 y: 24 z: 0 , green-circle x: -22 y: 36 z: 40 , green-rectangle x: -40 y: -39 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 29 y: 24 z: 0 , red-triangle x: 56 y: 59 z: 40])
|
* go home * from (29; 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: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: -12 y: -6 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-12; -6; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: -6 z: 100, gripper: open, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: -12 y: -6 z: 40])
|
* go close to it * from(-12; -6; 100)* to (-12; -6; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: -6 z: 30, gripper: open, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: -12 y: -6 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: -6 z: 30, gripper: close, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: -12 y: -6 z: 40])
|
* move up * from (-12; -6; 30) * to (-12; -6; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: -6 z: 340, gripper: close, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: -12 y: -6 z: 340])
|
* go above the other element * from (-12; -6; 640) * to (39; 18; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 39 y: 18 z: 300, gripper: close, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: 39 y: 18 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 39 y: 18 z: 300, gripper: open, black-cup x: 39 y: 18 z: 0 , green-circle x: -7 y: 43 z: 40 , green-rectangle x: -28 y: -11 z: 80 , grey-rectangle x: 3 y: 52 z: 80 , red-rectangle x: -42 y: -25 z: 80 , red-triangle x: 39 y: 18 z: 0])
|
* go home * from (39; 18; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
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