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