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