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