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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 8 y: 58 z: 0 , green-circle x: -27 y: 52 z: 40 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-27; 52; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 52 z: 100, gripper: open, black-cup x: 8 y: 58 z: 0 , green-circle x: -27 y: 52 z: 40 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* go close to it * from(-27; 52; 100)* to (-27; 52; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 52 z: 30, gripper: open, black-cup x: 8 y: 58 z: 0 , green-circle x: -27 y: 52 z: 40 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 52 z: 30, gripper: close, black-cup x: 8 y: 58 z: 0 , green-circle x: -27 y: 52 z: 40 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* move up * from (-27; 52; 30) * to (-27; 52; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 52 z: 340, gripper: close, black-cup x: 8 y: 58 z: 0 , green-circle x: -27 y: 52 z: 340 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* go above the other element * from (-27; 52; 640) * to (8; 58; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 58 z: 300, gripper: close, black-cup x: 8 y: 58 z: 0 , green-circle x: 8 y: 58 z: 300 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 58 z: 300, gripper: open, black-cup x: 8 y: 58 z: 0 , green-circle x: 8 y: 58 z: 0 , green-rectangle x: 59 y: -41 z: 80 , grey-rectangle x: 19 y: -29 z: 80 , red-rectangle x: -29 y: -46 z: 80 , red-triangle x: -43 y: -12 z: 40])
|
* go home * from (8; 58; 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: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 16 y: -50 z: 80 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (16; -50; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -50 z: 140, gripper: open, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 16 y: -50 z: 80 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* go close to it * from(16; -50; 140)* to (16; -50; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -50 z: 70, gripper: open, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 16 y: -50 z: 80 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -50 z: 70, gripper: close, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 16 y: -50 z: 80 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* move up * from (16; -50; 70) * to (16; -50; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 16 y: -50 z: 380, gripper: close, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 16 y: -50 z: 380 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* go above the other element * from (16; -50; 680) * to (44; -34; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -34 z: 300, gripper: close, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 44 y: -34 z: 300 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -34 z: 300, gripper: open, black-cup x: 44 y: -34 z: 0 , green-circle x: 15 y: -53 z: 40 , green-rectangle x: 44 y: -34 z: 0 , grey-rectangle x: -8 y: 11 z: 80 , red-rectangle x: 53 y: -37 z: 80 , red-triangle x: -46 y: 51 z: 40])
|
* go home * from (44; -34; 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: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: -50 y: 56 z: 80 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-50; 56; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: 56 z: 140, gripper: open, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: -50 y: 56 z: 80 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* go close to it * from(-50; 56; 140)* to (-50; 56; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: 56 z: 70, gripper: open, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: -50 y: 56 z: 80 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: 56 z: 70, gripper: close, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: -50 y: 56 z: 80 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* move up * from (-50; 56; 70) * to (-50; 56; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: 56 z: 380, gripper: close, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: -50 y: 56 z: 380 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* go above the other element * from (-50; 56; 680) * to (27; -5; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 27 y: -5 z: 300, gripper: close, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: 27 y: -5 z: 300 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 27 y: -5 z: 300, gripper: open, black-cup x: 27 y: -5 z: 0 , green-circle x: -17 y: -3 z: 40 , green-rectangle x: -38 y: -11 z: 80 , grey-rectangle x: 27 y: -5 z: 0 , red-rectangle x: -12 y: 39 z: 80 , red-triangle x: 25 y: 37 z: 40])
|
* go home * from (27; -5; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 29 y: -26 z: 80 , red-triangle x: 7 y: -51 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (29; -26; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -26 z: 140, gripper: open, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 29 y: -26 z: 80 , red-triangle x: 7 y: -51 z: 40])
|
* go close to it * from(29; -26; 140)* to (29; -26; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -26 z: 70, gripper: open, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 29 y: -26 z: 80 , red-triangle x: 7 y: -51 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -26 z: 70, gripper: close, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 29 y: -26 z: 80 , red-triangle x: 7 y: -51 z: 40])
|
* move up * from (29; -26; 70) * to (29; -26; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: -26 z: 380, gripper: close, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 29 y: -26 z: 380 , red-triangle x: 7 y: -51 z: 40])
|
* go above the other element * from (29; -26; 680) * to (46; -18; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 46 y: -18 z: 300, gripper: close, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 46 y: -18 z: 300 , red-triangle x: 7 y: -51 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 46 y: -18 z: 300, gripper: open, black-cup x: 46 y: -18 z: 0 , green-circle x: -46 y: -56 z: 40 , green-rectangle x: -55 y: 17 z: 80 , grey-rectangle x: -59 y: 40 z: 80 , red-rectangle x: 46 y: -18 z: 0 , red-triangle x: 7 y: -51 z: 40])
|
* go home * from (46; -18; 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: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -52 y: -43 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-52; -43; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -52 y: -43 z: 100, gripper: open, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -52 y: -43 z: 40])
|
* go close to it * from(-52; -43; 100)* to (-52; -43; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -52 y: -43 z: 30, gripper: open, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -52 y: -43 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -52 y: -43 z: 30, gripper: close, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -52 y: -43 z: 40])
|
* move up * from (-52; -43; 30) * to (-52; -43; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -52 y: -43 z: 340, gripper: close, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -52 y: -43 z: 340])
|
* go above the other element * from (-52; -43; 640) * to (-39; 21; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -39 y: 21 z: 300, gripper: close, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -39 y: 21 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -39 y: 21 z: 300, gripper: open, black-cup x: -39 y: 21 z: 0 , green-circle x: 30 y: 58 z: 40 , green-rectangle x: 1 y: -15 z: 80 , grey-rectangle x: 3 y: 59 z: 80 , red-rectangle x: -29 y: 45 z: 80 , red-triangle x: -39 y: 21 z: 0])
|
* go home * from (-39; 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: -14 y: 28 z: 0 , green-circle x: -45 y: -59 z: 40 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-45; -59; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -45 y: -59 z: 100, gripper: open, black-cup x: -14 y: 28 z: 0 , green-circle x: -45 y: -59 z: 40 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* go close to it * from(-45; -59; 100)* to (-45; -59; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -45 y: -59 z: 30, gripper: open, black-cup x: -14 y: 28 z: 0 , green-circle x: -45 y: -59 z: 40 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -45 y: -59 z: 30, gripper: close, black-cup x: -14 y: 28 z: 0 , green-circle x: -45 y: -59 z: 40 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* move up * from (-45; -59; 30) * to (-45; -59; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -45 y: -59 z: 340, gripper: close, black-cup x: -14 y: 28 z: 0 , green-circle x: -45 y: -59 z: 340 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* go above the other element * from (-45; -59; 640) * to (-14; 28; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -14 y: 28 z: 300, gripper: close, black-cup x: -14 y: 28 z: 0 , green-circle x: -14 y: 28 z: 300 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -14 y: 28 z: 300, gripper: open, black-cup x: -14 y: 28 z: 0 , green-circle x: -14 y: 28 z: 0 , green-rectangle x: 53 y: -4 z: 80 , grey-rectangle x: 39 y: -11 z: 80 , red-rectangle x: 18 y: 35 z: 80 , red-triangle x: -22 y: -23 z: 40])
|
* go home * from (-14; 28; 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: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -41 y: -15 z: 80 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-41; -15; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -15 z: 140, gripper: open, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -41 y: -15 z: 80 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* go close to it * from(-41; -15; 140)* to (-41; -15; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -15 z: 70, gripper: open, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -41 y: -15 z: 80 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -15 z: 70, gripper: close, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -41 y: -15 z: 80 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* move up * from (-41; -15; 70) * to (-41; -15; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -41 y: -15 z: 380, gripper: close, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -41 y: -15 z: 380 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* go above the other element * from (-41; -15; 680) * to (-39; 48; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 48 z: 300, gripper: close, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -39 y: 48 z: 300 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 48 z: 300, gripper: open, black-cup x: -39 y: 48 z: 0 , green-circle x: -27 y: -9 z: 40 , green-rectangle x: -39 y: 48 z: 0 , grey-rectangle x: 59 y: 8 z: 80 , red-rectangle x: 35 y: -17 z: 80 , red-triangle x: -49 y: -38 z: 40])
|
* go home * from (-39; 48; 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: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 9 y: 30 z: 80 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (9; 30; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 140, gripper: open, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 9 y: 30 z: 80 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* go close to it * from(9; 30; 140)* to (9; 30; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 70, gripper: open, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 9 y: 30 z: 80 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 70, gripper: close, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 9 y: 30 z: 80 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* move up * from (9; 30; 70) * to (9; 30; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 9 y: 30 z: 380, gripper: close, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 9 y: 30 z: 380 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* go above the other element * from (9; 30; 680) * to (26; 54; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 26 y: 54 z: 300, gripper: close, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 26 y: 54 z: 300 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 26 y: 54 z: 300, gripper: open, black-cup x: 26 y: 54 z: 0 , green-circle x: 39 y: 15 z: 40 , green-rectangle x: -15 y: 10 z: 80 , grey-rectangle x: 26 y: 54 z: 0 , red-rectangle x: -42 y: -39 z: 80 , red-triangle x: -16 y: 13 z: 40])
|
* go home * from (26; 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: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 52 y: -13 z: 80 , red-triangle x: 22 y: 2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (52; -13; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -13 z: 140, gripper: open, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 52 y: -13 z: 80 , red-triangle x: 22 y: 2 z: 40])
|
* go close to it * from(52; -13; 140)* to (52; -13; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -13 z: 70, gripper: open, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 52 y: -13 z: 80 , red-triangle x: 22 y: 2 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -13 z: 70, gripper: close, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 52 y: -13 z: 80 , red-triangle x: 22 y: 2 z: 40])
|
* move up * from (52; -13; 70) * to (52; -13; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 52 y: -13 z: 380, gripper: close, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 52 y: -13 z: 380 , red-triangle x: 22 y: 2 z: 40])
|
* go above the other element * from (52; -13; 680) * to (48; -27; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -27 z: 300, gripper: close, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 48 y: -27 z: 300 , red-triangle x: 22 y: 2 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 48 y: -27 z: 300, gripper: open, black-cup x: 48 y: -27 z: 0 , green-circle x: -55 y: 29 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 41 y: 36 z: 80 , red-rectangle x: 48 y: -27 z: 0 , red-triangle x: 22 y: 2 z: 40])
|
* go home * from (48; -27; 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: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: -50 y: -28 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-50; -28; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -50 y: -28 z: 100, gripper: open, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: -50 y: -28 z: 40])
|
* go close to it * from(-50; -28; 100)* to (-50; -28; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -50 y: -28 z: 30, gripper: open, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: -50 y: -28 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -50 y: -28 z: 30, gripper: close, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: -50 y: -28 z: 40])
|
* move up * from (-50; -28; 30) * to (-50; -28; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -50 y: -28 z: 340, gripper: close, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: -50 y: -28 z: 340])
|
* go above the other element * from (-50; -28; 640) * to (46; 24; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 46 y: 24 z: 300, gripper: close, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: 46 y: 24 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 46 y: 24 z: 300, gripper: open, black-cup x: 46 y: 24 z: 0 , green-circle x: 27 y: 30 z: 40 , green-rectangle x: 0 y: 30 z: 80 , grey-rectangle x: 33 y: 40 z: 80 , red-rectangle x: 27 y: 38 z: 80 , red-triangle x: 46 y: 24 z: 0])
|
* go home * from (46; 24; 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: 30 y: -52 z: 0 , green-circle x: 51 y: -55 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (51; -55; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -55 z: 100, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 51 y: -55 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* go close to it * from(51; -55; 100)* to (51; -55; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -55 z: 30, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 51 y: -55 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -55 z: 30, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 51 y: -55 z: 40 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* move up * from (51; -55; 30) * to (51; -55; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 51 y: -55 z: 340, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 51 y: -55 z: 340 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* go above the other element * from (51; -55; 640) * to (30; -52; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 30 y: -52 z: 300, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 30 y: -52 z: 300 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 30 y: -52 z: 300, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 30 y: -52 z: 0 , green-rectangle x: -58 y: -31 z: 80 , grey-rectangle x: 55 y: -42 z: 80 , red-rectangle x: 51 y: 35 z: 80 , red-triangle x: -29 y: 0 z: 40])
|
* go home * from (30; -52; 300) * to (380; 0; 620)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -37 y: 15 z: 80 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-37; 15; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: 15 z: 140, gripper: open, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -37 y: 15 z: 80 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* go close to it * from(-37; 15; 140)* to (-37; 15; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: 15 z: 70, gripper: open, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -37 y: 15 z: 80 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: 15 z: 70, gripper: close, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -37 y: 15 z: 80 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* move up * from (-37; 15; 70) * to (-37; 15; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: 15 z: 380, gripper: close, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -37 y: 15 z: 380 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* go above the other element * from (-37; 15; 680) * to (-10; -38; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -38 z: 300, gripper: close, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -10 y: -38 z: 300 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -10 y: -38 z: 300, gripper: open, black-cup x: -10 y: -38 z: 0 , green-circle x: -25 y: -9 z: 40 , green-rectangle x: -10 y: -38 z: 0 , grey-rectangle x: -33 y: 53 z: 80 , red-rectangle x: -17 y: 30 z: 80 , red-triangle x: -28 y: -47 z: 40])
|
* go home * from (-10; -38; 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: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -32 y: 34 z: 80 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-32; 34; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 34 z: 140, gripper: open, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -32 y: 34 z: 80 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* go close to it * from(-32; 34; 140)* to (-32; 34; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 34 z: 70, gripper: open, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -32 y: 34 z: 80 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 34 z: 70, gripper: close, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -32 y: 34 z: 80 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* move up * from (-32; 34; 70) * to (-32; 34; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 34 z: 380, gripper: close, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -32 y: 34 z: 380 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* go above the other element * from (-32; 34; 680) * to (-29; 12; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 12 z: 300, gripper: close, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -29 y: 12 z: 300 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -29 y: 12 z: 300, gripper: open, black-cup x: -29 y: 12 z: 0 , green-circle x: -53 y: 58 z: 40 , green-rectangle x: -57 y: 33 z: 80 , grey-rectangle x: -29 y: 12 z: 0 , red-rectangle x: 12 y: -30 z: 80 , red-triangle x: -39 y: -8 z: 40])
|
* go home * from (-29; 12; 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: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: 39 y: -35 z: 80 , red-triangle x: -30 y: 11 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (39; -35; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -35 z: 140, gripper: open, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: 39 y: -35 z: 80 , red-triangle x: -30 y: 11 z: 40])
|
* go close to it * from(39; -35; 140)* to (39; -35; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -35 z: 70, gripper: open, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: 39 y: -35 z: 80 , red-triangle x: -30 y: 11 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -35 z: 70, gripper: close, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: 39 y: -35 z: 80 , red-triangle x: -30 y: 11 z: 40])
|
* move up * from (39; -35; 70) * to (39; -35; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -35 z: 380, gripper: close, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: 39 y: -35 z: 380 , red-triangle x: -30 y: 11 z: 40])
|
* go above the other element * from (39; -35; 680) * to (-30; 52; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -30 y: 52 z: 300, gripper: close, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: -30 y: 52 z: 300 , red-triangle x: -30 y: 11 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -30 y: 52 z: 300, gripper: open, black-cup x: -30 y: 52 z: 0 , green-circle x: 35 y: 28 z: 40 , green-rectangle x: -27 y: -28 z: 80 , grey-rectangle x: 31 y: -42 z: 80 , red-rectangle x: -30 y: 52 z: 0 , red-triangle x: -30 y: 11 z: 40])
|
* go home * from (-30; 52; 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: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -33 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-33; -46; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -33 y: -46 z: 100, gripper: open, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -33 y: -46 z: 40])
|
* go close to it * from(-33; -46; 100)* to (-33; -46; 30)
|
take the red-triangle and put it inside the black cup
|
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