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table([ eof x: -39 y: 7 z: 300, gripper: open, black-cup x: -39 y: 7 z: 0 , green-circle x: -17 y: -25 z: 40 , green-rectangle x: 33 y: -32 z: 80 , grey-rectangle x: -39 y: 7 z: 0 , red-rectangle x: -50 y: -38 z: 80 , red-triangle x: -39 y: 44 z: 40])
|
* go home * from (-39; 7; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 58 y: -4 z: 80 , red-triangle x: -56 y: 42 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (58; -4; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: -4 z: 140, gripper: open, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 58 y: -4 z: 80 , red-triangle x: -56 y: 42 z: 40])
|
* go close to it * from(58; -4; 140)* to (58; -4; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: -4 z: 70, gripper: open, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 58 y: -4 z: 80 , red-triangle x: -56 y: 42 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: -4 z: 70, gripper: close, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 58 y: -4 z: 80 , red-triangle x: -56 y: 42 z: 40])
|
* move up * from (58; -4; 70) * to (58; -4; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 58 y: -4 z: 380, gripper: close, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 58 y: -4 z: 380 , red-triangle x: -56 y: 42 z: 40])
|
* go above the other element * from (58; -4; 680) * to (5; 46; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 46 z: 300, gripper: close, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 5 y: 46 z: 300 , red-triangle x: -56 y: 42 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 46 z: 300, gripper: open, black-cup x: 5 y: 46 z: 0 , green-circle x: -28 y: -16 z: 40 , green-rectangle x: -34 y: 54 z: 80 , grey-rectangle x: 18 y: 0 z: 80 , red-rectangle x: 5 y: 46 z: 0 , red-triangle x: -56 y: 42 z: 40])
|
* go home * from (5; 46; 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: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: -14 y: 14 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-14; 14; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -14 y: 14 z: 100, gripper: open, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: -14 y: 14 z: 40])
|
* go close to it * from(-14; 14; 100)* to (-14; 14; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -14 y: 14 z: 30, gripper: open, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: -14 y: 14 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -14 y: 14 z: 30, gripper: close, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: -14 y: 14 z: 40])
|
* move up * from (-14; 14; 30) * to (-14; 14; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -14 y: 14 z: 340, gripper: close, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: -14 y: 14 z: 340])
|
* go above the other element * from (-14; 14; 640) * to (32; -22; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -22 z: 300, gripper: close, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: 32 y: -22 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 32 y: -22 z: 300, gripper: open, black-cup x: 32 y: -22 z: 0 , green-circle x: 9 y: -30 z: 40 , green-rectangle x: -34 y: -8 z: 80 , grey-rectangle x: 59 y: 1 z: 80 , red-rectangle x: 10 y: -24 z: 80 , red-triangle x: 32 y: -22 z: 0])
|
* go home * from (32; -22; 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: 57 y: -44 z: 0 , green-circle x: 10 y: 25 z: 40 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (10; 25; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 10 y: 25 z: 100, gripper: open, black-cup x: 57 y: -44 z: 0 , green-circle x: 10 y: 25 z: 40 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* go close to it * from(10; 25; 100)* to (10; 25; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 10 y: 25 z: 30, gripper: open, black-cup x: 57 y: -44 z: 0 , green-circle x: 10 y: 25 z: 40 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 10 y: 25 z: 30, gripper: close, black-cup x: 57 y: -44 z: 0 , green-circle x: 10 y: 25 z: 40 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* move up * from (10; 25; 30) * to (10; 25; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 10 y: 25 z: 340, gripper: close, black-cup x: 57 y: -44 z: 0 , green-circle x: 10 y: 25 z: 340 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* go above the other element * from (10; 25; 640) * to (57; -44; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: -44 z: 300, gripper: close, black-cup x: 57 y: -44 z: 0 , green-circle x: 57 y: -44 z: 300 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: -44 z: 300, gripper: open, black-cup x: 57 y: -44 z: 0 , green-circle x: 57 y: -44 z: 0 , green-rectangle x: -15 y: 7 z: 80 , grey-rectangle x: -39 y: 30 z: 80 , red-rectangle x: -3 y: 57 z: 80 , red-triangle x: -26 y: 55 z: 40])
|
* go home * from (57; -44; 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: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -49 y: 0 z: 80 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-49; 0; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -49 y: 0 z: 140, gripper: open, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -49 y: 0 z: 80 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* go close to it * from(-49; 0; 140)* to (-49; 0; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -49 y: 0 z: 70, gripper: open, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -49 y: 0 z: 80 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -49 y: 0 z: 70, gripper: close, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -49 y: 0 z: 80 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* move up * from (-49; 0; 70) * to (-49; 0; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -49 y: 0 z: 380, gripper: close, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -49 y: 0 z: 380 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* go above the other element * from (-49; 0; 680) * to (-32; 12; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 12 z: 300, gripper: close, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -32 y: 12 z: 300 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -32 y: 12 z: 300, gripper: open, black-cup x: -32 y: 12 z: 0 , green-circle x: -3 y: -17 z: 40 , green-rectangle x: -32 y: 12 z: 0 , grey-rectangle x: 18 y: 54 z: 80 , red-rectangle x: 39 y: 16 z: 80 , red-triangle x: 47 y: 48 z: 40])
|
* go home * from (-32; 12; 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: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -50 y: -55 z: 80 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-50; -55; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: -55 z: 140, gripper: open, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -50 y: -55 z: 80 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* go close to it * from(-50; -55; 140)* to (-50; -55; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: -55 z: 70, gripper: open, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -50 y: -55 z: 80 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: -55 z: 70, gripper: close, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -50 y: -55 z: 80 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* move up * from (-50; -55; 70) * to (-50; -55; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -50 y: -55 z: 380, gripper: close, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: -50 y: -55 z: 380 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* go above the other element * from (-50; -55; 680) * to (32; 46; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 32 y: 46 z: 300, gripper: close, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: 32 y: 46 z: 300 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 32 y: 46 z: 300, gripper: open, black-cup x: 32 y: 46 z: 0 , green-circle x: 14 y: 43 z: 40 , green-rectangle x: -30 y: 27 z: 80 , grey-rectangle x: 32 y: 46 z: 0 , red-rectangle x: 36 y: 6 z: 80 , red-triangle x: 13 y: -52 z: 40])
|
* go home * from (32; 46; 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: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 12 y: -37 z: 80 , red-triangle x: 45 y: 31 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (12; -37; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: -37 z: 140, gripper: open, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 12 y: -37 z: 80 , red-triangle x: 45 y: 31 z: 40])
|
* go close to it * from(12; -37; 140)* to (12; -37; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: -37 z: 70, gripper: open, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 12 y: -37 z: 80 , red-triangle x: 45 y: 31 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: -37 z: 70, gripper: close, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 12 y: -37 z: 80 , red-triangle x: 45 y: 31 z: 40])
|
* move up * from (12; -37; 70) * to (12; -37; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 12 y: -37 z: 380, gripper: close, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 12 y: -37 z: 380 , red-triangle x: 45 y: 31 z: 40])
|
* go above the other element * from (12; -37; 680) * to (9; -5; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 9 y: -5 z: 300, gripper: close, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 9 y: -5 z: 300 , red-triangle x: 45 y: 31 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 9 y: -5 z: 300, gripper: open, black-cup x: 9 y: -5 z: 0 , green-circle x: 41 y: -18 z: 40 , green-rectangle x: 20 y: -57 z: 80 , grey-rectangle x: 28 y: -24 z: 80 , red-rectangle x: 9 y: -5 z: 0 , red-triangle x: 45 y: 31 z: 40])
|
* go home * from (9; -5; 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: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: -3 y: 57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-3; 57; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -3 y: 57 z: 100, gripper: open, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: -3 y: 57 z: 40])
|
* go close to it * from(-3; 57; 100)* to (-3; 57; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -3 y: 57 z: 30, gripper: open, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: -3 y: 57 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -3 y: 57 z: 30, gripper: close, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: -3 y: 57 z: 40])
|
* move up * from (-3; 57; 30) * to (-3; 57; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -3 y: 57 z: 340, gripper: close, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: -3 y: 57 z: 340])
|
* go above the other element * from (-3; 57; 640) * to (20; 39; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 20 y: 39 z: 300, gripper: close, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: 20 y: 39 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 20 y: 39 z: 300, gripper: open, black-cup x: 20 y: 39 z: 0 , green-circle x: 19 y: -17 z: 40 , green-rectangle x: -30 y: -39 z: 80 , grey-rectangle x: -30 y: -32 z: 80 , red-rectangle x: -27 y: -51 z: 80 , red-triangle x: 20 y: 39 z: 0])
|
* go home * from (20; 39; 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: 10 z: 0 , green-circle x: 35 y: -11 z: 40 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (35; -11; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: -11 z: 100, gripper: open, black-cup x: -56 y: 10 z: 0 , green-circle x: 35 y: -11 z: 40 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* go close to it * from(35; -11; 100)* to (35; -11; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: -11 z: 30, gripper: open, black-cup x: -56 y: 10 z: 0 , green-circle x: 35 y: -11 z: 40 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: -11 z: 30, gripper: close, black-cup x: -56 y: 10 z: 0 , green-circle x: 35 y: -11 z: 40 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* move up * from (35; -11; 30) * to (35; -11; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 35 y: -11 z: 340, gripper: close, black-cup x: -56 y: 10 z: 0 , green-circle x: 35 y: -11 z: 340 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* go above the other element * from (35; -11; 640) * to (-56; 10; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -56 y: 10 z: 300, gripper: close, black-cup x: -56 y: 10 z: 0 , green-circle x: -56 y: 10 z: 300 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -56 y: 10 z: 300, gripper: open, black-cup x: -56 y: 10 z: 0 , green-circle x: -56 y: 10 z: 0 , green-rectangle x: 15 y: 50 z: 80 , grey-rectangle x: -14 y: 46 z: 80 , red-rectangle x: -11 y: 3 z: 80 , red-triangle x: -26 y: 25 z: 40])
|
* go home * from (-56; 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: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -45 y: -13 z: 80 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-45; -13; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -45 y: -13 z: 140, gripper: open, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -45 y: -13 z: 80 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* go close to it * from(-45; -13; 140)* to (-45; -13; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -45 y: -13 z: 70, gripper: open, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -45 y: -13 z: 80 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -45 y: -13 z: 70, gripper: close, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -45 y: -13 z: 80 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* move up * from (-45; -13; 70) * to (-45; -13; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -45 y: -13 z: 380, gripper: close, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -45 y: -13 z: 380 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* go above the other element * from (-45; -13; 680) * to (-2; 47; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 47 z: 300, gripper: close, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -2 y: 47 z: 300 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 47 z: 300, gripper: open, black-cup x: -2 y: 47 z: 0 , green-circle x: 54 y: -58 z: 40 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: -24 y: 32 z: 80 , red-rectangle x: -49 y: 48 z: 80 , red-triangle x: 29 y: -26 z: 40])
|
* go home * from (-2; 47; 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: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -19 y: 40 z: 80 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-19; 40; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 40 z: 140, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -19 y: 40 z: 80 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* go close to it * from(-19; 40; 140)* to (-19; 40; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 40 z: 70, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -19 y: 40 z: 80 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 40 z: 70, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -19 y: 40 z: 80 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* move up * from (-19; 40; 70) * to (-19; 40; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -19 y: 40 z: 380, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -19 y: 40 z: 380 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* go above the other element * from (-19; 40; 680) * to (-32; -43; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: -43 z: 300, gripper: close, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -32 y: -43 z: 300 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -32 y: -43 z: 300, gripper: open, black-cup x: -32 y: -43 z: 0 , green-circle x: 47 y: 11 z: 40 , green-rectangle x: -27 y: -17 z: 80 , grey-rectangle x: -32 y: -43 z: 0 , red-rectangle x: -49 y: -28 z: 80 , red-triangle x: 15 y: -6 z: 40])
|
* go home * from (-32; -43; 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: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 0 y: -24 z: 80 , red-triangle x: -44 y: -56 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (0; -24; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 140, gripper: open, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 0 y: -24 z: 80 , red-triangle x: -44 y: -56 z: 40])
|
* go close to it * from(0; -24; 140)* to (0; -24; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 70, gripper: open, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 0 y: -24 z: 80 , red-triangle x: -44 y: -56 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 70, gripper: close, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 0 y: -24 z: 80 , red-triangle x: -44 y: -56 z: 40])
|
* move up * from (0; -24; 70) * to (0; -24; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 0 y: -24 z: 380, gripper: close, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 0 y: -24 z: 380 , red-triangle x: -44 y: -56 z: 40])
|
* go above the other element * from (0; -24; 680) * to (33; -29; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: -29 z: 300, gripper: close, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 33 y: -29 z: 300 , red-triangle x: -44 y: -56 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 33 y: -29 z: 300, gripper: open, black-cup x: 33 y: -29 z: 0 , green-circle x: 40 y: 12 z: 40 , green-rectangle x: -18 y: 50 z: 80 , grey-rectangle x: -33 y: 28 z: 80 , red-rectangle x: 33 y: -29 z: 0 , red-triangle x: -44 y: -56 z: 40])
|
* go home * from (33; -29; 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: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: 27 y: 30 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (27; 30; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 30 z: 100, gripper: open, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: 27 y: 30 z: 40])
|
* go close to it * from(27; 30; 100)* to (27; 30; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 30 z: 30, gripper: open, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: 27 y: 30 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 30 z: 30, gripper: close, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: 27 y: 30 z: 40])
|
* move up * from (27; 30; 30) * to (27; 30; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 27 y: 30 z: 340, gripper: close, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: 27 y: 30 z: 340])
|
* go above the other element * from (27; 30; 640) * to (-12; 29; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: 29 z: 300, gripper: close, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: -12 y: 29 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -12 y: 29 z: 300, gripper: open, black-cup x: -12 y: 29 z: 0 , green-circle x: -10 y: 16 z: 40 , green-rectangle x: 36 y: -3 z: 80 , grey-rectangle x: 16 y: -4 z: 80 , red-rectangle x: 26 y: 19 z: 80 , red-triangle x: -12 y: 29 z: 0])
|
* go home * from (-12; 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: 25 y: 52 z: 0 , green-circle x: 57 y: 57 z: 40 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (57; 57; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: 57 z: 100, gripper: open, black-cup x: 25 y: 52 z: 0 , green-circle x: 57 y: 57 z: 40 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* go close to it * from(57; 57; 100)* to (57; 57; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: 57 z: 30, gripper: open, black-cup x: 25 y: 52 z: 0 , green-circle x: 57 y: 57 z: 40 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: 57 z: 30, gripper: close, black-cup x: 25 y: 52 z: 0 , green-circle x: 57 y: 57 z: 40 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* move up * from (57; 57; 30) * to (57; 57; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 57 y: 57 z: 340, gripper: close, black-cup x: 25 y: 52 z: 0 , green-circle x: 57 y: 57 z: 340 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* go above the other element * from (57; 57; 640) * to (25; 52; 300)
|
take the green-circle 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: 25 y: 52 z: 300 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* leave the element * open gripper
|
take the green-circle 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: 25 y: 52 z: 0 , green-rectangle x: 49 y: 10 z: 80 , grey-rectangle x: -45 y: 53 z: 80 , red-rectangle x: 31 y: 14 z: 80 , red-triangle x: 36 y: 18 z: 40])
|
* go home * from (25; 52; 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: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 33 y: 33 z: 80 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (33; 33; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 33 z: 140, gripper: open, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 33 y: 33 z: 80 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* go close to it * from(33; 33; 140)* to (33; 33; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 33 z: 70, gripper: open, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 33 y: 33 z: 80 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 33 z: 70, gripper: close, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 33 y: 33 z: 80 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* move up * from (33; 33; 70) * to (33; 33; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 33 y: 33 z: 380, gripper: close, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 33 y: 33 z: 380 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* go above the other element * from (33; 33; 680) * to (3; -57; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 3 y: -57 z: 300, gripper: close, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 3 y: -57 z: 300 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 3 y: -57 z: 300, gripper: open, black-cup x: 3 y: -57 z: 0 , green-circle x: 23 y: 45 z: 40 , green-rectangle x: 3 y: -57 z: 0 , grey-rectangle x: -54 y: -38 z: 80 , red-rectangle x: 15 y: -52 z: 80 , red-triangle x: 39 y: 26 z: 40])
|
* go home * from (3; -57; 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: -23 y: -48 z: 0 , green-circle x: 5 y: 23 z: 40 , green-rectangle x: -3 y: 51 z: 80 , grey-rectangle x: 18 y: 55 z: 80 , red-rectangle x: 23 y: 52 z: 80 , red-triangle x: 19 y: 24 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (18; 55; 140)
|
take the grey-rectangle and put it inside the black cup
|
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