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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -6 y: -56 z: 0 , green-circle x: 24 y: -10 z: 40 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (24; -10; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -10 z: 100, gripper: open, black-cup x: -6 y: -56 z: 0 , green-circle x: 24 y: -10 z: 40 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* go close to it * from(24; -10; 100)* to (24; -10; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -10 z: 30, gripper: open, black-cup x: -6 y: -56 z: 0 , green-circle x: 24 y: -10 z: 40 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -10 z: 30, gripper: close, black-cup x: -6 y: -56 z: 0 , green-circle x: 24 y: -10 z: 40 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* move up * from (24; -10; 30) * to (24; -10; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 24 y: -10 z: 340, gripper: close, black-cup x: -6 y: -56 z: 0 , green-circle x: 24 y: -10 z: 340 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* go above the other element * from (24; -10; 640) * to (-6; -56; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -56 z: 300, gripper: close, black-cup x: -6 y: -56 z: 0 , green-circle x: -6 y: -56 z: 300 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -6 y: -56 z: 300, gripper: open, black-cup x: -6 y: -56 z: 0 , green-circle x: -6 y: -56 z: 0 , green-rectangle x: 29 y: -50 z: 80 , grey-rectangle x: 12 y: -57 z: 80 , red-rectangle x: 24 y: -25 z: 80 , red-triangle x: 34 y: 18 z: 40])
|
* go home * from (-6; -56; 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: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: -2 y: 3 z: 80 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-2; 3; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 3 z: 140, gripper: open, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: -2 y: 3 z: 80 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* go close to it * from(-2; 3; 140)* to (-2; 3; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 3 z: 70, gripper: open, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: -2 y: 3 z: 80 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 3 z: 70, gripper: close, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: -2 y: 3 z: 80 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* move up * from (-2; 3; 70) * to (-2; 3; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 3 z: 380, gripper: close, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: -2 y: 3 z: 380 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* go above the other element * from (-2; 3; 680) * to (47; -9; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 47 y: -9 z: 300, gripper: close, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: 47 y: -9 z: 300 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 47 y: -9 z: 300, gripper: open, black-cup x: 47 y: -9 z: 0 , green-circle x: 21 y: -57 z: 40 , green-rectangle x: 47 y: -9 z: 0 , grey-rectangle x: 6 y: 55 z: 80 , red-rectangle x: 0 y: 58 z: 80 , red-triangle x: -50 y: -26 z: 40])
|
* go home * from (47; -9; 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: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 31 y: -2 z: 80 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (31; -2; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -2 z: 140, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 31 y: -2 z: 80 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* go close to it * from(31; -2; 140)* to (31; -2; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -2 z: 70, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 31 y: -2 z: 80 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -2 z: 70, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 31 y: -2 z: 80 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* move up * from (31; -2; 70) * to (31; -2; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -2 z: 380, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 31 y: -2 z: 380 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* go above the other element * from (31; -2; 680) * to (52; -55; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -55 z: 300, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 52 y: -55 z: 300 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -55 z: 300, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 49 y: -5 z: 40 , green-rectangle x: 1 y: -5 z: 80 , grey-rectangle x: 52 y: -55 z: 0 , red-rectangle x: 41 y: 3 z: 80 , red-triangle x: -41 y: 44 z: 40])
|
* go home * from (52; -55; 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: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: -46 y: 59 z: 80 , red-triangle x: 45 y: -5 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-46; 59; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 59 z: 140, gripper: open, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: -46 y: 59 z: 80 , red-triangle x: 45 y: -5 z: 40])
|
* go close to it * from(-46; 59; 140)* to (-46; 59; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 59 z: 70, gripper: open, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: -46 y: 59 z: 80 , red-triangle x: 45 y: -5 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 59 z: 70, gripper: close, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: -46 y: 59 z: 80 , red-triangle x: 45 y: -5 z: 40])
|
* move up * from (-46; 59; 70) * to (-46; 59; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -46 y: 59 z: 380, gripper: close, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: -46 y: 59 z: 380 , red-triangle x: 45 y: -5 z: 40])
|
* go above the other element * from (-46; 59; 680) * to (48; -34; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -34 z: 300, gripper: close, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: 48 y: -34 z: 300 , red-triangle x: 45 y: -5 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -34 z: 300, gripper: open, black-cup x: 48 y: -34 z: 0 , green-circle x: -12 y: -14 z: 40 , green-rectangle x: -38 y: -33 z: 80 , grey-rectangle x: 44 y: 47 z: 80 , red-rectangle x: 48 y: -34 z: 0 , red-triangle x: 45 y: -5 z: 40])
|
* go home * from (48; -34; 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: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: -26 y: -5 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-26; -5; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -26 y: -5 z: 100, gripper: open, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: -26 y: -5 z: 40])
|
* go close to it * from(-26; -5; 100)* to (-26; -5; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -26 y: -5 z: 30, gripper: open, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: -26 y: -5 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -26 y: -5 z: 30, gripper: close, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: -26 y: -5 z: 40])
|
* move up * from (-26; -5; 30) * to (-26; -5; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -26 y: -5 z: 340, gripper: close, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: -26 y: -5 z: 340])
|
* go above the other element * from (-26; -5; 640) * to (19; -33; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 19 y: -33 z: 300, gripper: close, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: 19 y: -33 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 19 y: -33 z: 300, gripper: open, black-cup x: 19 y: -33 z: 0 , green-circle x: 42 y: 38 z: 40 , green-rectangle x: -47 y: -7 z: 80 , grey-rectangle x: 36 y: 42 z: 80 , red-rectangle x: 18 y: 6 z: 80 , red-triangle x: 19 y: -33 z: 0])
|
* go home * from (19; -33; 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: 35 y: 53 z: 0 , green-circle x: -52 y: -50 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-52; -50; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -52 y: -50 z: 100, gripper: open, black-cup x: 35 y: 53 z: 0 , green-circle x: -52 y: -50 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* go close to it * from(-52; -50; 100)* to (-52; -50; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -52 y: -50 z: 30, gripper: open, black-cup x: 35 y: 53 z: 0 , green-circle x: -52 y: -50 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -52 y: -50 z: 30, gripper: close, black-cup x: 35 y: 53 z: 0 , green-circle x: -52 y: -50 z: 40 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* move up * from (-52; -50; 30) * to (-52; -50; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -52 y: -50 z: 340, gripper: close, black-cup x: 35 y: 53 z: 0 , green-circle x: -52 y: -50 z: 340 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* go above the other element * from (-52; -50; 640) * to (35; 53; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: 53 z: 300, gripper: close, black-cup x: 35 y: 53 z: 0 , green-circle x: 35 y: 53 z: 300 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: 53 z: 300, gripper: open, black-cup x: 35 y: 53 z: 0 , green-circle x: 35 y: 53 z: 0 , green-rectangle x: 31 y: -50 z: 80 , grey-rectangle x: -28 y: 43 z: 80 , red-rectangle x: -16 y: -15 z: 80 , red-triangle x: 8 y: 15 z: 40])
|
* go home * from (35; 53; 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: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: 41 y: -20 z: 80 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (41; -20; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -20 z: 140, gripper: open, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: 41 y: -20 z: 80 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* go close to it * from(41; -20; 140)* to (41; -20; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -20 z: 70, gripper: open, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: 41 y: -20 z: 80 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -20 z: 70, gripper: close, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: 41 y: -20 z: 80 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* move up * from (41; -20; 70) * to (41; -20; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 41 y: -20 z: 380, gripper: close, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: 41 y: -20 z: 380 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* go above the other element * from (41; -20; 680) * to (-5; -28; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -5 y: -28 z: 300, gripper: close, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: -5 y: -28 z: 300 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -5 y: -28 z: 300, gripper: open, black-cup x: -5 y: -28 z: 0 , green-circle x: -56 y: 57 z: 40 , green-rectangle x: -5 y: -28 z: 0 , grey-rectangle x: 56 y: 49 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: -51 y: -28 z: 40])
|
* go home * from (-5; -28; 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: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: -36 y: -16 z: 80 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-36; -16; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -36 y: -16 z: 140, gripper: open, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: -36 y: -16 z: 80 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* go close to it * from(-36; -16; 140)* to (-36; -16; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -36 y: -16 z: 70, gripper: open, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: -36 y: -16 z: 80 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -36 y: -16 z: 70, gripper: close, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: -36 y: -16 z: 80 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* move up * from (-36; -16; 70) * to (-36; -16; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -36 y: -16 z: 380, gripper: close, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: -36 y: -16 z: 380 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* go above the other element * from (-36; -16; 680) * to (2; 9; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: 9 z: 300, gripper: close, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: 2 y: 9 z: 300 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: 9 z: 300, gripper: open, black-cup x: 2 y: 9 z: 0 , green-circle x: -53 y: -27 z: 40 , green-rectangle x: 18 y: -25 z: 80 , grey-rectangle x: 2 y: 9 z: 0 , red-rectangle x: -3 y: -12 z: 80 , red-triangle x: 34 y: 10 z: 40])
|
* go home * from (2; 9; 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: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -51 y: 50 z: 80 , red-triangle x: 35 y: 23 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-51; 50; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 50 z: 140, gripper: open, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -51 y: 50 z: 80 , red-triangle x: 35 y: 23 z: 40])
|
* go close to it * from(-51; 50; 140)* to (-51; 50; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 50 z: 70, gripper: open, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -51 y: 50 z: 80 , red-triangle x: 35 y: 23 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 50 z: 70, gripper: close, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -51 y: 50 z: 80 , red-triangle x: 35 y: 23 z: 40])
|
* move up * from (-51; 50; 70) * to (-51; 50; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 50 z: 380, gripper: close, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -51 y: 50 z: 380 , red-triangle x: 35 y: 23 z: 40])
|
* go above the other element * from (-51; 50; 680) * to (-41; 16; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 16 z: 300, gripper: close, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -41 y: 16 z: 300 , red-triangle x: 35 y: 23 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 16 z: 300, gripper: open, black-cup x: -41 y: 16 z: 0 , green-circle x: 0 y: 3 z: 40 , green-rectangle x: -46 y: -3 z: 80 , grey-rectangle x: 55 y: 47 z: 80 , red-rectangle x: -41 y: 16 z: 0 , red-triangle x: 35 y: 23 z: 40])
|
* go home * from (-41; 16; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: 32 y: -49 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (32; -49; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -49 z: 100, gripper: open, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: 32 y: -49 z: 40])
|
* go close to it * from(32; -49; 100)* to (32; -49; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -49 z: 30, gripper: open, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: 32 y: -49 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -49 z: 30, gripper: close, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: 32 y: -49 z: 40])
|
* move up * from (32; -49; 30) * to (32; -49; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -49 z: 340, gripper: close, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: 32 y: -49 z: 340])
|
* go above the other element * from (32; -49; 640) * to (-22; -29; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -29 z: 300, gripper: close, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: -22 y: -29 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: -29 z: 300, gripper: open, black-cup x: -22 y: -29 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -46 y: 9 z: 80 , grey-rectangle x: 14 y: 52 z: 80 , red-rectangle x: -34 y: 59 z: 80 , red-triangle x: -22 y: -29 z: 0])
|
* go home * from (-22; -29; 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: -12 y: -29 z: 0 , green-circle x: -44 y: 17 z: 40 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-44; 17; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -44 y: 17 z: 100, gripper: open, black-cup x: -12 y: -29 z: 0 , green-circle x: -44 y: 17 z: 40 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* go close to it * from(-44; 17; 100)* to (-44; 17; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -44 y: 17 z: 30, gripper: open, black-cup x: -12 y: -29 z: 0 , green-circle x: -44 y: 17 z: 40 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -44 y: 17 z: 30, gripper: close, black-cup x: -12 y: -29 z: 0 , green-circle x: -44 y: 17 z: 40 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* move up * from (-44; 17; 30) * to (-44; 17; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -44 y: 17 z: 340, gripper: close, black-cup x: -12 y: -29 z: 0 , green-circle x: -44 y: 17 z: 340 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* go above the other element * from (-44; 17; 640) * to (-12; -29; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -12 y: -29 z: 300, gripper: close, black-cup x: -12 y: -29 z: 0 , green-circle x: -12 y: -29 z: 300 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -12 y: -29 z: 300, gripper: open, black-cup x: -12 y: -29 z: 0 , green-circle x: -12 y: -29 z: 0 , green-rectangle x: -31 y: 30 z: 80 , grey-rectangle x: -8 y: -12 z: 80 , red-rectangle x: -55 y: -43 z: 80 , red-triangle x: 59 y: 31 z: 40])
|
* go home * from (-12; -29; 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: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 0 y: 10 z: 80 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; 10; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 10 z: 140, gripper: open, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 0 y: 10 z: 80 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* go close to it * from(0; 10; 140)* to (0; 10; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 10 z: 70, gripper: open, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 0 y: 10 z: 80 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 10 z: 70, gripper: close, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 0 y: 10 z: 80 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* move up * from (0; 10; 70) * to (0; 10; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 10 z: 380, gripper: close, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 0 y: 10 z: 380 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* go above the other element * from (0; 10; 680) * to (9; 30; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 300, gripper: close, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 9 y: 30 z: 300 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 300, gripper: open, black-cup x: 9 y: 30 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 9 y: 30 z: 0 , grey-rectangle x: 36 y: -6 z: 80 , red-rectangle x: -14 y: 22 z: 80 , red-triangle x: 34 y: 47 z: 40])
|
* go home * from (9; 30; 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: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: -29 y: 16 z: 80 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-29; 16; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 16 z: 140, gripper: open, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: -29 y: 16 z: 80 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* go close to it * from(-29; 16; 140)* to (-29; 16; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 16 z: 70, gripper: open, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: -29 y: 16 z: 80 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 16 z: 70, gripper: close, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: -29 y: 16 z: 80 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* move up * from (-29; 16; 70) * to (-29; 16; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 16 z: 380, gripper: close, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: -29 y: 16 z: 380 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* go above the other element * from (-29; 16; 680) * to (18; 20; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 18 y: 20 z: 300, gripper: close, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: 18 y: 20 z: 300 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 18 y: 20 z: 300, gripper: open, black-cup x: 18 y: 20 z: 0 , green-circle x: -14 y: 26 z: 40 , green-rectangle x: 30 y: -59 z: 80 , grey-rectangle x: 18 y: 20 z: 0 , red-rectangle x: 54 y: -43 z: 80 , red-triangle x: -25 y: -46 z: 40])
|
* go home * from (18; 20; 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: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 25 y: -4 z: 80 , red-triangle x: 22 y: -49 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (25; -4; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -4 z: 140, gripper: open, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 25 y: -4 z: 80 , red-triangle x: 22 y: -49 z: 40])
|
* go close to it * from(25; -4; 140)* to (25; -4; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -4 z: 70, gripper: open, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 25 y: -4 z: 80 , red-triangle x: 22 y: -49 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -4 z: 70, gripper: close, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 25 y: -4 z: 80 , red-triangle x: 22 y: -49 z: 40])
|
* move up * from (25; -4; 70) * to (25; -4; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -4 z: 380, gripper: close, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 25 y: -4 z: 380 , red-triangle x: 22 y: -49 z: 40])
|
* go above the other element * from (25; -4; 680) * to (51; 53; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 51 y: 53 z: 300, gripper: close, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 51 y: 53 z: 300 , red-triangle x: 22 y: -49 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 51 y: 53 z: 300, gripper: open, black-cup x: 51 y: 53 z: 0 , green-circle x: 27 y: 46 z: 40 , green-rectangle x: -45 y: 52 z: 80 , grey-rectangle x: -34 y: 42 z: 80 , red-rectangle x: 51 y: 53 z: 0 , red-triangle x: 22 y: -49 z: 40])
|
* go home * from (51; 53; 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: -11 y: -20 z: 0 , green-circle x: -46 y: -46 z: 40 , green-rectangle x: -7 y: -14 z: 80 , grey-rectangle x: -44 y: 15 z: 80 , red-rectangle x: -52 y: 12 z: 80 , red-triangle x: -1 y: -35 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-1; -35; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -1 y: -35 z: 100, gripper: open, black-cup x: -11 y: -20 z: 0 , green-circle x: -46 y: -46 z: 40 , green-rectangle x: -7 y: -14 z: 80 , grey-rectangle x: -44 y: 15 z: 80 , red-rectangle x: -52 y: 12 z: 80 , red-triangle x: -1 y: -35 z: 40])
|
* go close to it * from(-1; -35; 100)* to (-1; -35; 30)
|
take the red-triangle and put it inside the black cup
|
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