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