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