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