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table([ eof x: -51 y: 11 z: 140, gripper: open, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: -51 y: 11 z: 80 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* go close to it * from(-51; 11; 140)* to (-51; 11; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 11 z: 70, gripper: open, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: -51 y: 11 z: 80 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 11 z: 70, gripper: close, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: -51 y: 11 z: 80 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* move up * from (-51; 11; 70) * to (-51; 11; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 11 z: 380, gripper: close, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: -51 y: 11 z: 380 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* go above the other element * from (-51; 11; 680) * to (31; -24; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -24 z: 300, gripper: close, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: 31 y: -24 z: 300 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 31 y: -24 z: 300, gripper: open, black-cup x: 31 y: -24 z: 0 , green-circle x: -22 y: -1 z: 40 , green-rectangle x: -4 y: 21 z: 80 , grey-rectangle x: 31 y: -24 z: 0 , red-rectangle x: -48 y: -30 z: 80 , red-triangle x: 54 y: -28 z: 40])
|
* go home * from (31; -24; 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: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: 0 y: -19 z: 80 , red-triangle x: -48 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; -19; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -19 z: 140, gripper: open, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: 0 y: -19 z: 80 , red-triangle x: -48 y: -46 z: 40])
|
* go close to it * from(0; -19; 140)* to (0; -19; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -19 z: 70, gripper: open, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: 0 y: -19 z: 80 , red-triangle x: -48 y: -46 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -19 z: 70, gripper: close, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: 0 y: -19 z: 80 , red-triangle x: -48 y: -46 z: 40])
|
* move up * from (0; -19; 70) * to (0; -19; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -19 z: 380, gripper: close, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: 0 y: -19 z: 380 , red-triangle x: -48 y: -46 z: 40])
|
* go above the other element * from (0; -19; 680) * to (-28; -32; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -28 y: -32 z: 300, gripper: close, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: -28 y: -32 z: 300 , red-triangle x: -48 y: -46 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -28 y: -32 z: 300, gripper: open, black-cup x: -28 y: -32 z: 0 , green-circle x: -16 y: 48 z: 40 , green-rectangle x: -46 y: -37 z: 80 , grey-rectangle x: -58 y: -50 z: 80 , red-rectangle x: -28 y: -32 z: 0 , red-triangle x: -48 y: -46 z: 40])
|
* go home * from (-28; -32; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: 0 y: -2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; -2; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: -2 z: 100, gripper: open, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: 0 y: -2 z: 40])
|
* go close to it * from(0; -2; 100)* to (0; -2; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: -2 z: 30, gripper: open, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: 0 y: -2 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: -2 z: 30, gripper: close, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: 0 y: -2 z: 40])
|
* move up * from (0; -2; 30) * to (0; -2; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 0 y: -2 z: 340, gripper: close, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: 0 y: -2 z: 340])
|
* go above the other element * from (0; -2; 640) * to (-54; 51; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -54 y: 51 z: 300, gripper: close, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: -54 y: 51 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -54 y: 51 z: 300, gripper: open, black-cup x: -54 y: 51 z: 0 , green-circle x: -59 y: 21 z: 40 , green-rectangle x: 45 y: 19 z: 80 , grey-rectangle x: -56 y: 22 z: 80 , red-rectangle x: -57 y: 0 z: 80 , red-triangle x: -54 y: 51 z: 0])
|
* go home * from (-54; 51; 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: 44 y: 5 z: 0 , green-circle x: 33 y: -17 z: 40 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (33; -17; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 33 y: -17 z: 100, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 33 y: -17 z: 40 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* go close to it * from(33; -17; 100)* to (33; -17; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 33 y: -17 z: 30, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 33 y: -17 z: 40 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 33 y: -17 z: 30, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 33 y: -17 z: 40 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* move up * from (33; -17; 30) * to (33; -17; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 33 y: -17 z: 340, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 33 y: -17 z: 340 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* go above the other element * from (33; -17; 640) * to (44; 5; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: 5 z: 300, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 44 y: 5 z: 300 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: 5 z: 300, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 44 y: 5 z: 0 , green-rectangle x: -37 y: -25 z: 80 , grey-rectangle x: -23 y: -47 z: 80 , red-rectangle x: 16 y: 51 z: 80 , red-triangle x: -37 y: 38 z: 40])
|
* go home * from (44; 5; 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: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 2 y: -16 z: 80 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (2; -16; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -16 z: 140, gripper: open, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 2 y: -16 z: 80 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* go close to it * from(2; -16; 140)* to (2; -16; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -16 z: 70, gripper: open, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 2 y: -16 z: 80 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -16 z: 70, gripper: close, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 2 y: -16 z: 80 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* move up * from (2; -16; 70) * to (2; -16; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -16 z: 380, gripper: close, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 2 y: -16 z: 380 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* go above the other element * from (2; -16; 680) * to (53; -52; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 53 y: -52 z: 300, gripper: close, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 53 y: -52 z: 300 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 53 y: -52 z: 300, gripper: open, black-cup x: 53 y: -52 z: 0 , green-circle x: -32 y: 48 z: 40 , green-rectangle x: 53 y: -52 z: 0 , grey-rectangle x: -38 y: -36 z: 80 , red-rectangle x: 58 y: 13 z: 80 , red-triangle x: 49 y: 42 z: 40])
|
* go home * from (53; -52; 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: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: 52 y: -26 z: 80 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (52; -26; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -26 z: 140, gripper: open, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: 52 y: -26 z: 80 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* go close to it * from(52; -26; 140)* to (52; -26; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -26 z: 70, gripper: open, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: 52 y: -26 z: 80 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -26 z: 70, gripper: close, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: 52 y: -26 z: 80 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* move up * from (52; -26; 70) * to (52; -26; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -26 z: 380, gripper: close, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: 52 y: -26 z: 380 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* go above the other element * from (52; -26; 680) * to (-4; 0; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -4 y: 0 z: 300, gripper: close, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: -4 y: 0 z: 300 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -4 y: 0 z: 300, gripper: open, black-cup x: -4 y: 0 z: 0 , green-circle x: 13 y: -9 z: 40 , green-rectangle x: 7 y: -27 z: 80 , grey-rectangle x: -4 y: 0 z: 0 , red-rectangle x: -48 y: -48 z: 80 , red-triangle x: -28 y: 11 z: 40])
|
* go home * from (-4; 0; 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: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: 16 y: -32 z: 80 , red-triangle x: 20 y: 15 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (16; -32; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 140, gripper: open, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: 16 y: -32 z: 80 , red-triangle x: 20 y: 15 z: 40])
|
* go close to it * from(16; -32; 140)* to (16; -32; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 70, gripper: open, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: 16 y: -32 z: 80 , red-triangle x: 20 y: 15 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 70, gripper: close, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: 16 y: -32 z: 80 , red-triangle x: 20 y: 15 z: 40])
|
* move up * from (16; -32; 70) * to (16; -32; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -32 z: 380, gripper: close, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: 16 y: -32 z: 380 , red-triangle x: 20 y: 15 z: 40])
|
* go above the other element * from (16; -32; 680) * to (-9; 41; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -9 y: 41 z: 300, gripper: close, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: -9 y: 41 z: 300 , red-triangle x: 20 y: 15 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -9 y: 41 z: 300, gripper: open, black-cup x: -9 y: 41 z: 0 , green-circle x: -52 y: 20 z: 40 , green-rectangle x: 34 y: 6 z: 80 , grey-rectangle x: -27 y: 25 z: 80 , red-rectangle x: -9 y: 41 z: 0 , red-triangle x: 20 y: 15 z: 40])
|
* go home * from (-9; 41; 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: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 50 y: -23 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (50; -23; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 50 y: -23 z: 100, gripper: open, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 50 y: -23 z: 40])
|
* go close to it * from(50; -23; 100)* to (50; -23; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 50 y: -23 z: 30, gripper: open, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 50 y: -23 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 50 y: -23 z: 30, gripper: close, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 50 y: -23 z: 40])
|
* move up * from (50; -23; 30) * to (50; -23; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 50 y: -23 z: 340, gripper: close, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 50 y: -23 z: 340])
|
* go above the other element * from (50; -23; 640) * to (47; -12; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 47 y: -12 z: 300, gripper: close, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 47 y: -12 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 47 y: -12 z: 300, gripper: open, black-cup x: 47 y: -12 z: 0 , green-circle x: -25 y: 18 z: 40 , green-rectangle x: -57 y: -22 z: 80 , grey-rectangle x: 40 y: 53 z: 80 , red-rectangle x: 41 y: 29 z: 80 , red-triangle x: 47 y: -12 z: 0])
|
* go home * from (47; -12; 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: -54 y: 33 z: 0 , green-circle x: -20 y: -25 z: 40 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-20; -25; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -25 z: 100, gripper: open, black-cup x: -54 y: 33 z: 0 , green-circle x: -20 y: -25 z: 40 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* go close to it * from(-20; -25; 100)* to (-20; -25; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -25 z: 30, gripper: open, black-cup x: -54 y: 33 z: 0 , green-circle x: -20 y: -25 z: 40 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -25 z: 30, gripper: close, black-cup x: -54 y: 33 z: 0 , green-circle x: -20 y: -25 z: 40 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* move up * from (-20; -25; 30) * to (-20; -25; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -20 y: -25 z: 340, gripper: close, black-cup x: -54 y: 33 z: 0 , green-circle x: -20 y: -25 z: 340 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* go above the other element * from (-20; -25; 640) * to (-54; 33; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -54 y: 33 z: 300, gripper: close, black-cup x: -54 y: 33 z: 0 , green-circle x: -54 y: 33 z: 300 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -54 y: 33 z: 300, gripper: open, black-cup x: -54 y: 33 z: 0 , green-circle x: -54 y: 33 z: 0 , green-rectangle x: 25 y: -39 z: 80 , grey-rectangle x: -46 y: 23 z: 80 , red-rectangle x: 47 y: 59 z: 80 , red-triangle x: 2 y: -46 z: 40])
|
* go home * from (-54; 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: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: 42 y: 13 z: 80 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (42; 13; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 13 z: 140, gripper: open, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: 42 y: 13 z: 80 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* go close to it * from(42; 13; 140)* to (42; 13; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 13 z: 70, gripper: open, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: 42 y: 13 z: 80 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 13 z: 70, gripper: close, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: 42 y: 13 z: 80 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* move up * from (42; 13; 70) * to (42; 13; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 42 y: 13 z: 380, gripper: close, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: 42 y: 13 z: 380 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* go above the other element * from (42; 13; 680) * to (-43; -49; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -43 y: -49 z: 300, gripper: close, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: -43 y: -49 z: 300 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -43 y: -49 z: 300, gripper: open, black-cup x: -43 y: -49 z: 0 , green-circle x: 46 y: 37 z: 40 , green-rectangle x: -43 y: -49 z: 0 , grey-rectangle x: -35 y: 19 z: 80 , red-rectangle x: -4 y: 41 z: 80 , red-triangle x: -22 y: -47 z: 40])
|
* go home * from (-43; -49; 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: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: -8 y: 59 z: 80 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-8; 59; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 59 z: 140, gripper: open, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: -8 y: 59 z: 80 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* go close to it * from(-8; 59; 140)* to (-8; 59; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 59 z: 70, gripper: open, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: -8 y: 59 z: 80 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 59 z: 70, gripper: close, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: -8 y: 59 z: 80 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* move up * from (-8; 59; 70) * to (-8; 59; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -8 y: 59 z: 380, gripper: close, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: -8 y: 59 z: 380 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* go above the other element * from (-8; 59; 680) * to (59; -15; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 59 y: -15 z: 300, gripper: close, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: 59 y: -15 z: 300 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 59 y: -15 z: 300, gripper: open, black-cup x: 59 y: -15 z: 0 , green-circle x: 30 y: 34 z: 40 , green-rectangle x: 15 y: 37 z: 80 , grey-rectangle x: 59 y: -15 z: 0 , red-rectangle x: -31 y: -58 z: 80 , red-triangle x: -47 y: -49 z: 40])
|
* go home * from (59; -15; 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: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: -44 y: -6 z: 80 , red-triangle x: 30 y: 54 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-44; -6; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: -6 z: 140, gripper: open, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: -44 y: -6 z: 80 , red-triangle x: 30 y: 54 z: 40])
|
* go close to it * from(-44; -6; 140)* to (-44; -6; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: -6 z: 70, gripper: open, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: -44 y: -6 z: 80 , red-triangle x: 30 y: 54 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: -6 z: 70, gripper: close, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: -44 y: -6 z: 80 , red-triangle x: 30 y: 54 z: 40])
|
* move up * from (-44; -6; 70) * to (-44; -6; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: -6 z: 380, gripper: close, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: -44 y: -6 z: 380 , red-triangle x: 30 y: 54 z: 40])
|
* go above the other element * from (-44; -6; 680) * to (15; -28; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: -28 z: 300, gripper: close, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: 15 y: -28 z: 300 , red-triangle x: 30 y: 54 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 15 y: -28 z: 300, gripper: open, black-cup x: 15 y: -28 z: 0 , green-circle x: 27 y: 49 z: 40 , green-rectangle x: 39 y: -1 z: 80 , grey-rectangle x: -57 y: -28 z: 80 , red-rectangle x: 15 y: -28 z: 0 , red-triangle x: 30 y: 54 z: 40])
|
* go home * from (15; -28; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: -33 y: -16 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-33; -16; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -33 y: -16 z: 100, gripper: open, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: -33 y: -16 z: 40])
|
* go close to it * from(-33; -16; 100)* to (-33; -16; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -33 y: -16 z: 30, gripper: open, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: -33 y: -16 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -33 y: -16 z: 30, gripper: close, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: -33 y: -16 z: 40])
|
* move up * from (-33; -16; 30) * to (-33; -16; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -33 y: -16 z: 340, gripper: close, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: -33 y: -16 z: 340])
|
* go above the other element * from (-33; -16; 640) * to (21; 19; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 21 y: 19 z: 300, gripper: close, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: 21 y: 19 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 21 y: 19 z: 300, gripper: open, black-cup x: 21 y: 19 z: 0 , green-circle x: 55 y: 4 z: 40 , green-rectangle x: -53 y: 19 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: 30 y: -10 z: 80 , red-triangle x: 21 y: 19 z: 0])
|
* go home * from (21; 19; 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: 36 y: -20 z: 0 , green-circle x: 44 y: -6 z: 40 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (44; -6; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: -6 z: 100, gripper: open, black-cup x: 36 y: -20 z: 0 , green-circle x: 44 y: -6 z: 40 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* go close to it * from(44; -6; 100)* to (44; -6; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: -6 z: 30, gripper: open, black-cup x: 36 y: -20 z: 0 , green-circle x: 44 y: -6 z: 40 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: -6 z: 30, gripper: close, black-cup x: 36 y: -20 z: 0 , green-circle x: 44 y: -6 z: 40 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* move up * from (44; -6; 30) * to (44; -6; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 44 y: -6 z: 340, gripper: close, black-cup x: 36 y: -20 z: 0 , green-circle x: 44 y: -6 z: 340 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* go above the other element * from (44; -6; 640) * to (36; -20; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 36 y: -20 z: 300, gripper: close, black-cup x: 36 y: -20 z: 0 , green-circle x: 36 y: -20 z: 300 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 36 y: -20 z: 300, gripper: open, black-cup x: 36 y: -20 z: 0 , green-circle x: 36 y: -20 z: 0 , green-rectangle x: -40 y: 22 z: 80 , grey-rectangle x: -52 y: -14 z: 80 , red-rectangle x: 26 y: -5 z: 80 , red-triangle x: -8 y: -57 z: 40])
|
* go home * from (36; -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: 3 y: 14 z: 0 , green-circle x: -51 y: 17 z: 40 , green-rectangle x: -26 y: 22 z: 80 , grey-rectangle x: 7 y: 58 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 53 y: -38 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-26; 22; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -26 y: 22 z: 140, gripper: open, black-cup x: 3 y: 14 z: 0 , green-circle x: -51 y: 17 z: 40 , green-rectangle x: -26 y: 22 z: 80 , grey-rectangle x: 7 y: 58 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 53 y: -38 z: 40])
|
* go close to it * from(-26; 22; 140)* to (-26; 22; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -26 y: 22 z: 70, gripper: open, black-cup x: 3 y: 14 z: 0 , green-circle x: -51 y: 17 z: 40 , green-rectangle x: -26 y: 22 z: 80 , grey-rectangle x: 7 y: 58 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 53 y: -38 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
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