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