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table([ eof x: -6 y: 9 z: 30, gripper: open, black-cup x: -47 y: -57 z: 0 , green-circle x: 4 y: -9 z: 40 , green-rectangle x: 2 y: 44 z: 80 , grey-rectangle x: -10 y: 48 z: 80 , red-rectangle x: -48 y: 35 z: 80 , red-triangle x: -6 y: 9 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 9 z: 30, gripper: close, black-cup x: -47 y: -57 z: 0 , green-circle x: 4 y: -9 z: 40 , green-rectangle x: 2 y: 44 z: 80 , grey-rectangle x: -10 y: 48 z: 80 , red-rectangle x: -48 y: 35 z: 80 , red-triangle x: -6 y: 9 z: 40])
|
* move up * from (-6; 9; 30) * to (-6; 9; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -6 y: 9 z: 340, gripper: close, black-cup x: -47 y: -57 z: 0 , green-circle x: 4 y: -9 z: 40 , green-rectangle x: 2 y: 44 z: 80 , grey-rectangle x: -10 y: 48 z: 80 , red-rectangle x: -48 y: 35 z: 80 , red-triangle x: -6 y: 9 z: 340])
|
* go above the other element * from (-6; 9; 640) * to (-47; -57; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: -57 z: 300, gripper: close, black-cup x: -47 y: -57 z: 0 , green-circle x: 4 y: -9 z: 40 , green-rectangle x: 2 y: 44 z: 80 , grey-rectangle x: -10 y: 48 z: 80 , red-rectangle x: -48 y: 35 z: 80 , red-triangle x: -47 y: -57 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -47 y: -57 z: 300, gripper: open, black-cup x: -47 y: -57 z: 0 , green-circle x: 4 y: -9 z: 40 , green-rectangle x: 2 y: 44 z: 80 , grey-rectangle x: -10 y: 48 z: 80 , red-rectangle x: -48 y: 35 z: 80 , red-triangle x: -47 y: -57 z: 0])
|
* go home * from (-47; -57; 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: 0 y: 52 z: 0 , green-circle x: -13 y: 37 z: 40 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-13; 37; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 37 z: 100, gripper: open, black-cup x: 0 y: 52 z: 0 , green-circle x: -13 y: 37 z: 40 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* go close to it * from(-13; 37; 100)* to (-13; 37; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 37 z: 30, gripper: open, black-cup x: 0 y: 52 z: 0 , green-circle x: -13 y: 37 z: 40 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 37 z: 30, gripper: close, black-cup x: 0 y: 52 z: 0 , green-circle x: -13 y: 37 z: 40 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* move up * from (-13; 37; 30) * to (-13; 37; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -13 y: 37 z: 340, gripper: close, black-cup x: 0 y: 52 z: 0 , green-circle x: -13 y: 37 z: 340 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* go above the other element * from (-13; 37; 640) * to (0; 52; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: 52 z: 300, gripper: close, black-cup x: 0 y: 52 z: 0 , green-circle x: 0 y: 52 z: 300 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 0 y: 52 z: 300, gripper: open, black-cup x: 0 y: 52 z: 0 , green-circle x: 0 y: 52 z: 0 , green-rectangle x: -42 y: -26 z: 80 , grey-rectangle x: -19 y: 38 z: 80 , red-rectangle x: 6 y: 34 z: 80 , red-triangle x: 15 y: 29 z: 40])
|
* go home * from (0; 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: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 0 y: -21 z: 80 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; -21; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -21 z: 140, gripper: open, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 0 y: -21 z: 80 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* go close to it * from(0; -21; 140)* to (0; -21; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -21 z: 70, gripper: open, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 0 y: -21 z: 80 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -21 z: 70, gripper: close, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 0 y: -21 z: 80 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* move up * from (0; -21; 70) * to (0; -21; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -21 z: 380, gripper: close, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 0 y: -21 z: 380 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* go above the other element * from (0; -21; 680) * to (48; -46; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -46 z: 300, gripper: close, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 48 y: -46 z: 300 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -46 z: 300, gripper: open, black-cup x: 48 y: -46 z: 0 , green-circle x: 28 y: 44 z: 40 , green-rectangle x: 48 y: -46 z: 0 , grey-rectangle x: 46 y: 39 z: 80 , red-rectangle x: -51 y: 2 z: 80 , red-triangle x: 6 y: 48 z: 40])
|
* go home * from (48; -46; 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: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: -1 y: 51 z: 80 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-1; 51; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -1 y: 51 z: 140, gripper: open, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: -1 y: 51 z: 80 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* go close to it * from(-1; 51; 140)* to (-1; 51; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -1 y: 51 z: 70, gripper: open, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: -1 y: 51 z: 80 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -1 y: 51 z: 70, gripper: close, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: -1 y: 51 z: 80 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* move up * from (-1; 51; 70) * to (-1; 51; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -1 y: 51 z: 380, gripper: close, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: -1 y: 51 z: 380 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* go above the other element * from (-1; 51; 680) * to (0; 54; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 54 z: 300, gripper: close, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 0 y: 54 z: 300 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 54 z: 300, gripper: open, black-cup x: 0 y: 54 z: 0 , green-circle x: 49 y: 56 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 0 y: 54 z: 0 , red-rectangle x: -9 y: 53 z: 80 , red-triangle x: -3 y: 35 z: 40])
|
* go home * from (0; 54; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: -35 y: 51 z: 80 , red-triangle x: -7 y: -10 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-35; 51; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -35 y: 51 z: 140, gripper: open, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: -35 y: 51 z: 80 , red-triangle x: -7 y: -10 z: 40])
|
* go close to it * from(-35; 51; 140)* to (-35; 51; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -35 y: 51 z: 70, gripper: open, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: -35 y: 51 z: 80 , red-triangle x: -7 y: -10 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -35 y: 51 z: 70, gripper: close, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: -35 y: 51 z: 80 , red-triangle x: -7 y: -10 z: 40])
|
* move up * from (-35; 51; 70) * to (-35; 51; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -35 y: 51 z: 380, gripper: close, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: -35 y: 51 z: 380 , red-triangle x: -7 y: -10 z: 40])
|
* go above the other element * from (-35; 51; 680) * to (4; -37; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 4 y: -37 z: 300, gripper: close, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: 4 y: -37 z: 300 , red-triangle x: -7 y: -10 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 4 y: -37 z: 300, gripper: open, black-cup x: 4 y: -37 z: 0 , green-circle x: 36 y: -56 z: 40 , green-rectangle x: 53 y: 28 z: 80 , grey-rectangle x: 12 y: 25 z: 80 , red-rectangle x: 4 y: -37 z: 0 , red-triangle x: -7 y: -10 z: 40])
|
* go home * from (4; -37; 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: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: 37 y: 12 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (37; 12; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 37 y: 12 z: 100, gripper: open, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: 37 y: 12 z: 40])
|
* go close to it * from(37; 12; 100)* to (37; 12; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 37 y: 12 z: 30, gripper: open, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: 37 y: 12 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 37 y: 12 z: 30, gripper: close, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: 37 y: 12 z: 40])
|
* move up * from (37; 12; 30) * to (37; 12; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 37 y: 12 z: 340, gripper: close, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: 37 y: 12 z: 340])
|
* go above the other element * from (37; 12; 640) * to (-53; 25; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -53 y: 25 z: 300, gripper: close, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: -53 y: 25 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -53 y: 25 z: 300, gripper: open, black-cup x: -53 y: 25 z: 0 , green-circle x: 22 y: -6 z: 40 , green-rectangle x: 47 y: -53 z: 80 , grey-rectangle x: -3 y: 55 z: 80 , red-rectangle x: -23 y: -42 z: 80 , red-triangle x: -53 y: 25 z: 0])
|
* go home * from (-53; 25; 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: -22 y: 8 z: 0 , green-circle x: -19 y: 18 z: 40 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-19; 18; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 18 z: 100, gripper: open, black-cup x: -22 y: 8 z: 0 , green-circle x: -19 y: 18 z: 40 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* go close to it * from(-19; 18; 100)* to (-19; 18; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 18 z: 30, gripper: open, black-cup x: -22 y: 8 z: 0 , green-circle x: -19 y: 18 z: 40 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 18 z: 30, gripper: close, black-cup x: -22 y: 8 z: 0 , green-circle x: -19 y: 18 z: 40 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* move up * from (-19; 18; 30) * to (-19; 18; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -19 y: 18 z: 340, gripper: close, black-cup x: -22 y: 8 z: 0 , green-circle x: -19 y: 18 z: 340 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* go above the other element * from (-19; 18; 640) * to (-22; 8; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -22 y: 8 z: 300, gripper: close, black-cup x: -22 y: 8 z: 0 , green-circle x: -22 y: 8 z: 300 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -22 y: 8 z: 300, gripper: open, black-cup x: -22 y: 8 z: 0 , green-circle x: -22 y: 8 z: 0 , green-rectangle x: 58 y: -44 z: 80 , grey-rectangle x: 28 y: 32 z: 80 , red-rectangle x: -14 y: -33 z: 80 , red-triangle x: 31 y: 56 z: 40])
|
* go home * from (-22; 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: 47 y: -38 z: 40 , green-rectangle x: 56 y: 19 z: 80 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (56; 19; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 56 y: 19 z: 140, gripper: open, black-cup x: 42 y: -25 z: 0 , green-circle x: 47 y: -38 z: 40 , green-rectangle x: 56 y: 19 z: 80 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 z: 40])
|
* go close to it * from(56; 19; 140)* to (56; 19; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 56 y: 19 z: 70, gripper: open, black-cup x: 42 y: -25 z: 0 , green-circle x: 47 y: -38 z: 40 , green-rectangle x: 56 y: 19 z: 80 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 56 y: 19 z: 70, gripper: close, black-cup x: 42 y: -25 z: 0 , green-circle x: 47 y: -38 z: 40 , green-rectangle x: 56 y: 19 z: 80 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 z: 40])
|
* move up * from (56; 19; 70) * to (56; 19; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 56 y: 19 z: 380, gripper: close, black-cup x: 42 y: -25 z: 0 , green-circle x: 47 y: -38 z: 40 , green-rectangle x: 56 y: 19 z: 380 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 z: 40])
|
* go above the other element * from (56; 19; 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: 47 y: -38 z: 40 , green-rectangle x: 42 y: -25 z: 300 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 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: 47 y: -38 z: 40 , green-rectangle x: 42 y: -25 z: 0 , grey-rectangle x: -5 y: 10 z: 80 , red-rectangle x: 0 y: -49 z: 80 , red-triangle x: 51 y: 37 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: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -13 y: 26 z: 80 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-13; 26; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 26 z: 140, gripper: open, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -13 y: 26 z: 80 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* go close to it * from(-13; 26; 140)* to (-13; 26; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 26 z: 70, gripper: open, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -13 y: 26 z: 80 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 26 z: 70, gripper: close, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -13 y: 26 z: 80 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* move up * from (-13; 26; 70) * to (-13; 26; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -13 y: 26 z: 380, gripper: close, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -13 y: 26 z: 380 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* go above the other element * from (-13; 26; 680) * to (-39; -50; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: -50 z: 300, gripper: close, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -39 y: -50 z: 300 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: -50 z: 300, gripper: open, black-cup x: -39 y: -50 z: 0 , green-circle x: 17 y: -29 z: 40 , green-rectangle x: -6 y: -7 z: 80 , grey-rectangle x: -39 y: -50 z: 0 , red-rectangle x: -48 y: -18 z: 80 , red-triangle x: -54 y: -2 z: 40])
|
* go home * from (-39; -50; 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: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: 52 y: -21 z: 80 , red-triangle x: -34 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (52; -21; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -21 z: 140, gripper: open, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: 52 y: -21 z: 80 , red-triangle x: -34 y: -50 z: 40])
|
* go close to it * from(52; -21; 140)* to (52; -21; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -21 z: 70, gripper: open, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: 52 y: -21 z: 80 , red-triangle x: -34 y: -50 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -21 z: 70, gripper: close, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: 52 y: -21 z: 80 , red-triangle x: -34 y: -50 z: 40])
|
* move up * from (52; -21; 70) * to (52; -21; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -21 z: 380, gripper: close, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: 52 y: -21 z: 380 , red-triangle x: -34 y: -50 z: 40])
|
* go above the other element * from (52; -21; 680) * to (-11; 24; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -11 y: 24 z: 300, gripper: close, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: -11 y: 24 z: 300 , red-triangle x: -34 y: -50 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -11 y: 24 z: 300, gripper: open, black-cup x: -11 y: 24 z: 0 , green-circle x: 28 y: -23 z: 40 , green-rectangle x: 22 y: -57 z: 80 , grey-rectangle x: 42 y: 55 z: 80 , red-rectangle x: -11 y: 24 z: 0 , red-triangle x: -34 y: -50 z: 40])
|
* go home * from (-11; 24; 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: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: 57 y: -16 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (57; -16; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 57 y: -16 z: 100, gripper: open, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: 57 y: -16 z: 40])
|
* go close to it * from(57; -16; 100)* to (57; -16; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 57 y: -16 z: 30, gripper: open, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: 57 y: -16 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 57 y: -16 z: 30, gripper: close, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: 57 y: -16 z: 40])
|
* move up * from (57; -16; 30) * to (57; -16; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 57 y: -16 z: 340, gripper: close, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: 57 y: -16 z: 340])
|
* go above the other element * from (57; -16; 640) * to (-44; 37; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -44 y: 37 z: 300, gripper: close, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: -44 y: 37 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -44 y: 37 z: 300, gripper: open, black-cup x: -44 y: 37 z: 0 , green-circle x: -8 y: -31 z: 40 , green-rectangle x: -56 y: 15 z: 80 , grey-rectangle x: 4 y: 40 z: 80 , red-rectangle x: 9 y: 1 z: 80 , red-triangle x: -44 y: 37 z: 0])
|
* go home * from (-44; 37; 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: 18 y: 0 z: 0 , green-circle x: -8 y: -6 z: 40 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-8; -6; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -6 z: 100, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: -8 y: -6 z: 40 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* go close to it * from(-8; -6; 100)* to (-8; -6; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -6 z: 30, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: -8 y: -6 z: 40 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -6 z: 30, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: -8 y: -6 z: 40 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* move up * from (-8; -6; 30) * to (-8; -6; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -8 y: -6 z: 340, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: -8 y: -6 z: 340 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* go above the other element * from (-8; -6; 640) * to (18; 0; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 18 y: 0 z: 300, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 18 y: 0 z: 300 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 18 y: 0 z: 300, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 18 y: 0 z: 0 , green-rectangle x: -10 y: -13 z: 80 , grey-rectangle x: -26 y: 27 z: 80 , red-rectangle x: -10 y: 35 z: 80 , red-triangle x: -21 y: -5 z: 40])
|
* go home * from (18; 0; 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: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 0 y: 5 z: 80 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; 5; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 5 z: 140, gripper: open, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 0 y: 5 z: 80 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* go close to it * from(0; 5; 140)* to (0; 5; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 5 z: 70, gripper: open, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 0 y: 5 z: 80 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 5 z: 70, gripper: close, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 0 y: 5 z: 80 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* move up * from (0; 5; 70) * to (0; 5; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 5 z: 380, gripper: close, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 0 y: 5 z: 380 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* go above the other element * from (0; 5; 680) * to (59; 54; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 54 z: 300, gripper: close, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 59 y: 54 z: 300 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 54 z: 300, gripper: open, black-cup x: 59 y: 54 z: 0 , green-circle x: -34 y: 37 z: 40 , green-rectangle x: 59 y: 54 z: 0 , grey-rectangle x: 53 y: 54 z: 80 , red-rectangle x: -49 y: -4 z: 80 , red-triangle x: -7 y: -38 z: 40])
|
* go home * from (59; 54; 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: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: 8 y: -14 z: 80 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (8; -14; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: -14 z: 140, gripper: open, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: 8 y: -14 z: 80 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* go close to it * from(8; -14; 140)* to (8; -14; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: -14 z: 70, gripper: open, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: 8 y: -14 z: 80 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: -14 z: 70, gripper: close, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: 8 y: -14 z: 80 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* move up * from (8; -14; 70) * to (8; -14; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 8 y: -14 z: 380, gripper: close, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: 8 y: -14 z: 380 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* go above the other element * from (8; -14; 680) * to (-27; -58; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -27 y: -58 z: 300, gripper: close, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: -27 y: -58 z: 300 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -27 y: -58 z: 300, gripper: open, black-cup x: -27 y: -58 z: 0 , green-circle x: -46 y: -2 z: 40 , green-rectangle x: 34 y: 20 z: 80 , grey-rectangle x: -27 y: -58 z: 0 , red-rectangle x: 38 y: 34 z: 80 , red-triangle x: 41 y: 17 z: 40])
|
* go home * from (-27; -58; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -22 y: -43 z: 0 , green-circle x: 12 y: -9 z: 40 , green-rectangle x: 28 y: -8 z: 80 , grey-rectangle x: 25 y: 3 z: 80 , red-rectangle x: 18 y: 38 z: 80 , red-triangle x: 54 y: 48 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (18; 38; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 18 y: 38 z: 140, gripper: open, black-cup x: -22 y: -43 z: 0 , green-circle x: 12 y: -9 z: 40 , green-rectangle x: 28 y: -8 z: 80 , grey-rectangle x: 25 y: 3 z: 80 , red-rectangle x: 18 y: 38 z: 80 , red-triangle x: 54 y: 48 z: 40])
|
* go close to it * from(18; 38; 140)* to (18; 38; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 18 y: 38 z: 70, gripper: open, black-cup x: -22 y: -43 z: 0 , green-circle x: 12 y: -9 z: 40 , green-rectangle x: 28 y: -8 z: 80 , grey-rectangle x: 25 y: 3 z: 80 , red-rectangle x: 18 y: 38 z: 80 , red-triangle x: 54 y: 48 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 18 y: 38 z: 70, gripper: close, black-cup x: -22 y: -43 z: 0 , green-circle x: 12 y: -9 z: 40 , green-rectangle x: 28 y: -8 z: 80 , grey-rectangle x: 25 y: 3 z: 80 , red-rectangle x: 18 y: 38 z: 80 , red-triangle x: 54 y: 48 z: 40])
|
* move up * from (18; 38; 70) * to (18; 38; 380)
|
take the red-rectangle and put it inside the black cup
|
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