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