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table([ eof x: -44 y: 2 z: 140, gripper: open, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: -44 y: 2 z: 80 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* go close to it * from(-44; 2; 140)* to (-44; 2; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -44 y: 2 z: 70, gripper: open, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: -44 y: 2 z: 80 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -44 y: 2 z: 70, gripper: close, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: -44 y: 2 z: 80 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* move up * from (-44; 2; 70) * to (-44; 2; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -44 y: 2 z: 380, gripper: close, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: -44 y: 2 z: 380 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* go above the other element * from (-44; 2; 680) * to (16; 22; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 16 y: 22 z: 300, gripper: close, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: 16 y: 22 z: 300 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 16 y: 22 z: 300, gripper: open, black-cup x: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: 16 y: 22 z: 0 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
|
* go home * from (16; 22; 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: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: -26 y: -20 z: 80 , red-triangle x: -17 y: 18 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-26; -20; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -26 y: -20 z: 140, gripper: open, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: -26 y: -20 z: 80 , red-triangle x: -17 y: 18 z: 40])
|
* go close to it * from(-26; -20; 140)* to (-26; -20; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -26 y: -20 z: 70, gripper: open, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: -26 y: -20 z: 80 , red-triangle x: -17 y: 18 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -26 y: -20 z: 70, gripper: close, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: -26 y: -20 z: 80 , red-triangle x: -17 y: 18 z: 40])
|
* move up * from (-26; -20; 70) * to (-26; -20; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -26 y: -20 z: 380, gripper: close, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: -26 y: -20 z: 380 , red-triangle x: -17 y: 18 z: 40])
|
* go above the other element * from (-26; -20; 680) * to (0; -24; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 300, gripper: close, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: 0 y: -24 z: 300 , red-triangle x: -17 y: 18 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 300, gripper: open, black-cup x: 0 y: -24 z: 0 , green-circle x: 13 y: -45 z: 40 , green-rectangle x: -28 y: -41 z: 80 , grey-rectangle x: -28 y: 9 z: 80 , red-rectangle x: 0 y: -24 z: 0 , red-triangle x: -17 y: 18 z: 40])
|
* go home * from (0; -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: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: 35 y: 13 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (35; 13; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: 13 z: 100, gripper: open, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: 35 y: 13 z: 40])
|
* go close to it * from(35; 13; 100)* to (35; 13; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: 13 z: 30, gripper: open, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: 35 y: 13 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: 13 z: 30, gripper: close, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: 35 y: 13 z: 40])
|
* move up * from (35; 13; 30) * to (35; 13; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 35 y: 13 z: 340, gripper: close, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: 35 y: 13 z: 340])
|
* go above the other element * from (35; 13; 640) * to (-59; 33; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -59 y: 33 z: 300, gripper: close, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: -59 y: 33 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -59 y: 33 z: 300, gripper: open, black-cup x: -59 y: 33 z: 0 , green-circle x: 26 y: 48 z: 40 , green-rectangle x: 26 y: -55 z: 80 , grey-rectangle x: -57 y: -59 z: 80 , red-rectangle x: 11 y: -40 z: 80 , red-triangle x: -59 y: 33 z: 0])
|
* go home * from (-59; 33; 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: -32 z: 0 , green-circle x: 14 y: 42 z: 40 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (14; 42; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 42 z: 100, gripper: open, black-cup x: 21 y: -32 z: 0 , green-circle x: 14 y: 42 z: 40 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* go close to it * from(14; 42; 100)* to (14; 42; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 42 z: 30, gripper: open, black-cup x: 21 y: -32 z: 0 , green-circle x: 14 y: 42 z: 40 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 42 z: 30, gripper: close, black-cup x: 21 y: -32 z: 0 , green-circle x: 14 y: 42 z: 40 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* move up * from (14; 42; 30) * to (14; 42; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 42 z: 340, gripper: close, black-cup x: 21 y: -32 z: 0 , green-circle x: 14 y: 42 z: 340 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* go above the other element * from (14; 42; 640) * to (21; -32; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -32 z: 300, gripper: close, black-cup x: 21 y: -32 z: 0 , green-circle x: 21 y: -32 z: 300 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -32 z: 300, gripper: open, black-cup x: 21 y: -32 z: 0 , green-circle x: 21 y: -32 z: 0 , green-rectangle x: -36 y: 22 z: 80 , grey-rectangle x: -28 y: 39 z: 80 , red-rectangle x: -12 y: 34 z: 80 , red-triangle x: 55 y: 14 z: 40])
|
* go home * from (21; -32; 300) * to (380; 0; 620)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: -13 y: -55 z: 80 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-13; -55; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -55 z: 140, gripper: open, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: -13 y: -55 z: 80 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* go close to it * from(-13; -55; 140)* to (-13; -55; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -55 z: 70, gripper: open, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: -13 y: -55 z: 80 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -55 z: 70, gripper: close, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: -13 y: -55 z: 80 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* move up * from (-13; -55; 70) * to (-13; -55; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -13 y: -55 z: 380, gripper: close, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: -13 y: -55 z: 380 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* go above the other element * from (-13; -55; 680) * to (53; -30; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 53 y: -30 z: 300, gripper: close, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: 53 y: -30 z: 300 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 53 y: -30 z: 300, gripper: open, black-cup x: 53 y: -30 z: 0 , green-circle x: -56 y: 40 z: 40 , green-rectangle x: 53 y: -30 z: 0 , grey-rectangle x: -3 y: -29 z: 80 , red-rectangle x: 8 y: 56 z: 80 , red-triangle x: 20 y: 19 z: 40])
|
* go home * from (53; -30; 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: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -33 y: -26 z: 80 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-33; -26; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -26 z: 140, gripper: open, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -33 y: -26 z: 80 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* go close to it * from(-33; -26; 140)* to (-33; -26; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -26 z: 70, gripper: open, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -33 y: -26 z: 80 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -26 z: 70, gripper: close, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -33 y: -26 z: 80 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* move up * from (-33; -26; 70) * to (-33; -26; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -33 y: -26 z: 380, gripper: close, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -33 y: -26 z: 380 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* go above the other element * from (-33; -26; 680) * to (-32; 25; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 25 z: 300, gripper: close, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -32 y: 25 z: 300 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 25 z: 300, gripper: open, black-cup x: -32 y: 25 z: 0 , green-circle x: -56 y: -4 z: 40 , green-rectangle x: 58 y: -21 z: 80 , grey-rectangle x: -32 y: 25 z: 0 , red-rectangle x: -22 y: -2 z: 80 , red-triangle x: -41 y: 58 z: 40])
|
* go home * from (-32; 25; 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: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: -22 y: 34 z: 80 , red-triangle x: -11 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-22; 34; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 34 z: 140, gripper: open, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: -22 y: 34 z: 80 , red-triangle x: -11 y: -50 z: 40])
|
* go close to it * from(-22; 34; 140)* to (-22; 34; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 34 z: 70, gripper: open, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: -22 y: 34 z: 80 , red-triangle x: -11 y: -50 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 34 z: 70, gripper: close, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: -22 y: 34 z: 80 , red-triangle x: -11 y: -50 z: 40])
|
* move up * from (-22; 34; 70) * to (-22; 34; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -22 y: 34 z: 380, gripper: close, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: -22 y: 34 z: 380 , red-triangle x: -11 y: -50 z: 40])
|
* go above the other element * from (-22; 34; 680) * to (20; 19; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 20 y: 19 z: 300, gripper: close, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: 20 y: 19 z: 300 , red-triangle x: -11 y: -50 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 20 y: 19 z: 300, gripper: open, black-cup x: 20 y: 19 z: 0 , green-circle x: -10 y: 40 z: 40 , green-rectangle x: 4 y: -47 z: 80 , grey-rectangle x: 13 y: 41 z: 80 , red-rectangle x: 20 y: 19 z: 0 , red-triangle x: -11 y: -50 z: 40])
|
* go home * from (20; 19; 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: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 44 y: -52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (44; -52; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 44 y: -52 z: 100, gripper: open, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 44 y: -52 z: 40])
|
* go close to it * from(44; -52; 100)* to (44; -52; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 44 y: -52 z: 30, gripper: open, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 44 y: -52 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 44 y: -52 z: 30, gripper: close, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 44 y: -52 z: 40])
|
* move up * from (44; -52; 30) * to (44; -52; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 44 y: -52 z: 340, gripper: close, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 44 y: -52 z: 340])
|
* go above the other element * from (44; -52; 640) * to (-20; -21; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -20 y: -21 z: 300, gripper: close, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: -20 y: -21 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -20 y: -21 z: 300, gripper: open, black-cup x: -20 y: -21 z: 0 , green-circle x: 33 y: 7 z: 40 , green-rectangle x: 58 y: -49 z: 80 , grey-rectangle x: -53 y: -38 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: -20 y: -21 z: 0])
|
* go home * from (-20; -21; 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: 39 y: -36 z: 0 , green-circle x: -46 y: 50 z: 40 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-46; 50; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -46 y: 50 z: 100, gripper: open, black-cup x: 39 y: -36 z: 0 , green-circle x: -46 y: 50 z: 40 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* go close to it * from(-46; 50; 100)* to (-46; 50; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -46 y: 50 z: 30, gripper: open, black-cup x: 39 y: -36 z: 0 , green-circle x: -46 y: 50 z: 40 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -46 y: 50 z: 30, gripper: close, black-cup x: 39 y: -36 z: 0 , green-circle x: -46 y: 50 z: 40 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* move up * from (-46; 50; 30) * to (-46; 50; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -46 y: 50 z: 340, gripper: close, black-cup x: 39 y: -36 z: 0 , green-circle x: -46 y: 50 z: 340 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* go above the other element * from (-46; 50; 640) * to (39; -36; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 39 y: -36 z: 300, gripper: close, black-cup x: 39 y: -36 z: 0 , green-circle x: 39 y: -36 z: 300 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 39 y: -36 z: 300, gripper: open, black-cup x: 39 y: -36 z: 0 , green-circle x: 39 y: -36 z: 0 , green-rectangle x: -57 y: 13 z: 80 , grey-rectangle x: 45 y: 38 z: 80 , red-rectangle x: -50 y: -22 z: 80 , red-triangle x: 39 y: 52 z: 40])
|
* go home * from (39; -36; 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: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -25 y: -32 z: 80 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-25; -32; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -25 y: -32 z: 140, gripper: open, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -25 y: -32 z: 80 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* go close to it * from(-25; -32; 140)* to (-25; -32; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -25 y: -32 z: 70, gripper: open, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -25 y: -32 z: 80 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -25 y: -32 z: 70, gripper: close, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -25 y: -32 z: 80 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* move up * from (-25; -32; 70) * to (-25; -32; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -25 y: -32 z: 380, gripper: close, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -25 y: -32 z: 380 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* go above the other element * from (-25; -32; 680) * to (-15; 18; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 18 z: 300, gripper: close, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -15 y: 18 z: 300 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: 18 z: 300, gripper: open, black-cup x: -15 y: 18 z: 0 , green-circle x: 41 y: 2 z: 40 , green-rectangle x: -15 y: 18 z: 0 , grey-rectangle x: -31 y: 33 z: 80 , red-rectangle x: 50 y: 1 z: 80 , red-triangle x: 5 y: -3 z: 40])
|
* go home * from (-15; 18; 300) * to (380; 0; 620)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: 7 y: 49 z: 80 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (7; 49; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 49 z: 140, gripper: open, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: 7 y: 49 z: 80 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* go close to it * from(7; 49; 140)* to (7; 49; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 49 z: 70, gripper: open, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: 7 y: 49 z: 80 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 49 z: 70, gripper: close, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: 7 y: 49 z: 80 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* move up * from (7; 49; 70) * to (7; 49; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 7 y: 49 z: 380, gripper: close, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: 7 y: 49 z: 380 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* go above the other element * from (7; 49; 680) * to (-10; -32; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -32 z: 300, gripper: close, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: -10 y: -32 z: 300 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -32 z: 300, gripper: open, black-cup x: -10 y: -32 z: 0 , green-circle x: 0 y: 9 z: 40 , green-rectangle x: 31 y: 53 z: 80 , grey-rectangle x: -10 y: -32 z: 0 , red-rectangle x: -13 y: -5 z: 80 , red-triangle x: -41 y: -52 z: 40])
|
* go home * from (-10; -32; 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: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 57 y: 35 z: 80 , red-triangle x: 21 y: 18 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (57; 35; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 57 y: 35 z: 140, gripper: open, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 57 y: 35 z: 80 , red-triangle x: 21 y: 18 z: 40])
|
* go close to it * from(57; 35; 140)* to (57; 35; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 57 y: 35 z: 70, gripper: open, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 57 y: 35 z: 80 , red-triangle x: 21 y: 18 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 57 y: 35 z: 70, gripper: close, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 57 y: 35 z: 80 , red-triangle x: 21 y: 18 z: 40])
|
* move up * from (57; 35; 70) * to (57; 35; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 57 y: 35 z: 380, gripper: close, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 57 y: 35 z: 380 , red-triangle x: 21 y: 18 z: 40])
|
* go above the other element * from (57; 35; 680) * to (35; -20; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 35 y: -20 z: 300, gripper: close, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 35 y: -20 z: 300 , red-triangle x: 21 y: 18 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 35 y: -20 z: 300, gripper: open, black-cup x: 35 y: -20 z: 0 , green-circle x: -47 y: -37 z: 40 , green-rectangle x: -58 y: -4 z: 80 , grey-rectangle x: 7 y: -26 z: 80 , red-rectangle x: 35 y: -20 z: 0 , red-triangle x: 21 y: 18 z: 40])
|
* go home * from (35; -20; 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: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 59 y: 27 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (59; 27; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 59 y: 27 z: 100, gripper: open, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 59 y: 27 z: 40])
|
* go close to it * from(59; 27; 100)* to (59; 27; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 59 y: 27 z: 30, gripper: open, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 59 y: 27 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 59 y: 27 z: 30, gripper: close, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 59 y: 27 z: 40])
|
* move up * from (59; 27; 30) * to (59; 27; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 59 y: 27 z: 340, gripper: close, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 59 y: 27 z: 340])
|
* go above the other element * from (59; 27; 640) * to (2; -23; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -23 z: 300, gripper: close, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 2 y: -23 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -23 z: 300, gripper: open, black-cup x: 2 y: -23 z: 0 , green-circle x: 18 y: 54 z: 40 , green-rectangle x: -31 y: -39 z: 80 , grey-rectangle x: -49 y: 54 z: 80 , red-rectangle x: 16 y: -42 z: 80 , red-triangle x: 2 y: -23 z: 0])
|
* go home * from (2; -23; 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: -51 y: 29 z: 0 , green-circle x: -27 y: -12 z: 40 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-27; -12; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -12 z: 100, gripper: open, black-cup x: -51 y: 29 z: 0 , green-circle x: -27 y: -12 z: 40 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* go close to it * from(-27; -12; 100)* to (-27; -12; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -12 z: 30, gripper: open, black-cup x: -51 y: 29 z: 0 , green-circle x: -27 y: -12 z: 40 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -12 z: 30, gripper: close, black-cup x: -51 y: 29 z: 0 , green-circle x: -27 y: -12 z: 40 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* move up * from (-27; -12; 30) * to (-27; -12; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -12 z: 340, gripper: close, black-cup x: -51 y: 29 z: 0 , green-circle x: -27 y: -12 z: 340 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* go above the other element * from (-27; -12; 640) * to (-51; 29; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -51 y: 29 z: 300, gripper: close, black-cup x: -51 y: 29 z: 0 , green-circle x: -51 y: 29 z: 300 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -51 y: 29 z: 300, gripper: open, black-cup x: -51 y: 29 z: 0 , green-circle x: -51 y: 29 z: 0 , green-rectangle x: 45 y: -31 z: 80 , grey-rectangle x: 23 y: -20 z: 80 , red-rectangle x: 36 y: 16 z: 80 , red-triangle x: -50 y: 58 z: 40])
|
* go home * from (-51; 29; 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: -52 y: -14 z: 0 , green-circle x: -23 y: -19 z: 40 , green-rectangle x: 11 y: -29 z: 80 , grey-rectangle x: 59 y: -5 z: 80 , red-rectangle x: -50 y: 48 z: 80 , red-triangle x: 57 y: 52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (11; -29; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 11 y: -29 z: 140, gripper: open, black-cup x: -52 y: -14 z: 0 , green-circle x: -23 y: -19 z: 40 , green-rectangle x: 11 y: -29 z: 80 , grey-rectangle x: 59 y: -5 z: 80 , red-rectangle x: -50 y: 48 z: 80 , red-triangle x: 57 y: 52 z: 40])
|
* go close to it * from(11; -29; 140)* to (11; -29; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 11 y: -29 z: 70, gripper: open, black-cup x: -52 y: -14 z: 0 , green-circle x: -23 y: -19 z: 40 , green-rectangle x: 11 y: -29 z: 80 , grey-rectangle x: 59 y: -5 z: 80 , red-rectangle x: -50 y: 48 z: 80 , red-triangle x: 57 y: 52 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
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