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