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