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table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -3 y: -27 z: 0 , green-circle x: -27 y: -47 z: 40 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-27; -47; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -47 z: 100, gripper: open, black-cup x: -3 y: -27 z: 0 , green-circle x: -27 y: -47 z: 40 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* go close to it * from(-27; -47; 100)* to (-27; -47; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -47 z: 30, gripper: open, black-cup x: -3 y: -27 z: 0 , green-circle x: -27 y: -47 z: 40 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -47 z: 30, gripper: close, black-cup x: -3 y: -27 z: 0 , green-circle x: -27 y: -47 z: 40 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* move up * from (-27; -47; 30) * to (-27; -47; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: -47 z: 340, gripper: close, black-cup x: -3 y: -27 z: 0 , green-circle x: -27 y: -47 z: 340 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* go above the other element * from (-27; -47; 640) * to (-3; -27; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: -27 z: 300, gripper: close, black-cup x: -3 y: -27 z: 0 , green-circle x: -3 y: -27 z: 300 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -3 y: -27 z: 300, gripper: open, black-cup x: -3 y: -27 z: 0 , green-circle x: -3 y: -27 z: 0 , green-rectangle x: -36 y: 10 z: 80 , grey-rectangle x: 57 y: -15 z: 80 , red-rectangle x: -44 y: 26 z: 80 , red-triangle x: 23 y: -5 z: 40])
|
* go home * from (-3; -27; 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: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: -11 y: -45 z: 80 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-11; -45; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -45 z: 140, gripper: open, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: -11 y: -45 z: 80 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* go close to it * from(-11; -45; 140)* to (-11; -45; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -45 z: 70, gripper: open, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: -11 y: -45 z: 80 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -45 z: 70, gripper: close, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: -11 y: -45 z: 80 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* move up * from (-11; -45; 70) * to (-11; -45; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -11 y: -45 z: 380, gripper: close, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: -11 y: -45 z: 380 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* go above the other element * from (-11; -45; 680) * to (27; 54; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 54 z: 300, gripper: close, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: 27 y: 54 z: 300 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 27 y: 54 z: 300, gripper: open, black-cup x: 27 y: 54 z: 0 , green-circle x: -25 y: -8 z: 40 , green-rectangle x: 27 y: 54 z: 0 , grey-rectangle x: -33 y: 8 z: 80 , red-rectangle x: 11 y: 40 z: 80 , red-triangle x: 14 y: -41 z: 40])
|
* go home * from (27; 54; 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: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 13 y: 19 z: 80 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (13; 19; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 19 z: 140, gripper: open, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 13 y: 19 z: 80 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* go close to it * from(13; 19; 140)* to (13; 19; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 19 z: 70, gripper: open, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 13 y: 19 z: 80 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 19 z: 70, gripper: close, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 13 y: 19 z: 80 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* move up * from (13; 19; 70) * to (13; 19; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 19 z: 380, gripper: close, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 13 y: 19 z: 380 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* go above the other element * from (13; 19; 680) * to (37; -6; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -6 z: 300, gripper: close, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 37 y: -6 z: 300 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 37 y: -6 z: 300, gripper: open, black-cup x: 37 y: -6 z: 0 , green-circle x: -11 y: -29 z: 40 , green-rectangle x: -22 y: -43 z: 80 , grey-rectangle x: 37 y: -6 z: 0 , red-rectangle x: -58 y: 6 z: 80 , red-triangle x: -54 y: -36 z: 40])
|
* go home * from (37; -6; 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: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: 49 y: -50 z: 80 , red-triangle x: -20 y: -25 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (49; -50; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 49 y: -50 z: 140, gripper: open, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: 49 y: -50 z: 80 , red-triangle x: -20 y: -25 z: 40])
|
* go close to it * from(49; -50; 140)* to (49; -50; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 49 y: -50 z: 70, gripper: open, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: 49 y: -50 z: 80 , red-triangle x: -20 y: -25 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 49 y: -50 z: 70, gripper: close, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: 49 y: -50 z: 80 , red-triangle x: -20 y: -25 z: 40])
|
* move up * from (49; -50; 70) * to (49; -50; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 49 y: -50 z: 380, gripper: close, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: 49 y: -50 z: 380 , red-triangle x: -20 y: -25 z: 40])
|
* go above the other element * from (49; -50; 680) * to (-21; 5; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 5 z: 300, gripper: close, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: -21 y: 5 z: 300 , red-triangle x: -20 y: -25 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -21 y: 5 z: 300, gripper: open, black-cup x: -21 y: 5 z: 0 , green-circle x: 16 y: -48 z: 40 , green-rectangle x: 9 y: 25 z: 80 , grey-rectangle x: 53 y: -13 z: 80 , red-rectangle x: -21 y: 5 z: 0 , red-triangle x: -20 y: -25 z: 40])
|
* go home * from (-21; 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: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 2 y: -24 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (2; -24; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -24 z: 100, gripper: open, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 2 y: -24 z: 40])
|
* go close to it * from(2; -24; 100)* to (2; -24; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -24 z: 30, gripper: open, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 2 y: -24 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -24 z: 30, gripper: close, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 2 y: -24 z: 40])
|
* move up * from (2; -24; 30) * to (2; -24; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -24 z: 340, gripper: close, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: 2 y: -24 z: 340])
|
* go above the other element * from (2; -24; 640) * to (-59; -48; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -59 y: -48 z: 300, gripper: close, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: -59 y: -48 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -59 y: -48 z: 300, gripper: open, black-cup x: -59 y: -48 z: 0 , green-circle x: 48 y: -22 z: 40 , green-rectangle x: -45 y: 21 z: 80 , grey-rectangle x: 32 y: -30 z: 80 , red-rectangle x: 29 y: -19 z: 80 , red-triangle x: -59 y: -48 z: 0])
|
* go home * from (-59; -48; 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: -42 y: -4 z: 0 , green-circle x: 21 y: -48 z: 40 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (21; -48; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -48 z: 100, gripper: open, black-cup x: -42 y: -4 z: 0 , green-circle x: 21 y: -48 z: 40 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* go close to it * from(21; -48; 100)* to (21; -48; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -48 z: 30, gripper: open, black-cup x: -42 y: -4 z: 0 , green-circle x: 21 y: -48 z: 40 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -48 z: 30, gripper: close, black-cup x: -42 y: -4 z: 0 , green-circle x: 21 y: -48 z: 40 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* move up * from (21; -48; 30) * to (21; -48; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 21 y: -48 z: 340, gripper: close, black-cup x: -42 y: -4 z: 0 , green-circle x: 21 y: -48 z: 340 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* go above the other element * from (21; -48; 640) * to (-42; -4; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -42 y: -4 z: 300, gripper: close, black-cup x: -42 y: -4 z: 0 , green-circle x: -42 y: -4 z: 300 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -42 y: -4 z: 300, gripper: open, black-cup x: -42 y: -4 z: 0 , green-circle x: -42 y: -4 z: 0 , green-rectangle x: -27 y: -46 z: 80 , grey-rectangle x: -16 y: -2 z: 80 , red-rectangle x: -46 y: -3 z: 80 , red-triangle x: 50 y: 4 z: 40])
|
* go home * from (-42; -4; 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: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -15 y: -13 z: 80 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-15; -13; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -13 z: 140, gripper: open, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -15 y: -13 z: 80 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* go close to it * from(-15; -13; 140)* to (-15; -13; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -13 z: 70, gripper: open, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -15 y: -13 z: 80 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -13 z: 70, gripper: close, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -15 y: -13 z: 80 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* move up * from (-15; -13; 70) * to (-15; -13; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -15 y: -13 z: 380, gripper: close, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -15 y: -13 z: 380 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* go above the other element * from (-15; -13; 680) * to (-23; -54; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -54 z: 300, gripper: close, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -23 y: -54 z: 300 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -54 z: 300, gripper: open, black-cup x: -23 y: -54 z: 0 , green-circle x: 29 y: 11 z: 40 , green-rectangle x: -23 y: -54 z: 0 , grey-rectangle x: 59 y: 57 z: 80 , red-rectangle x: 53 y: -41 z: 80 , red-triangle x: 8 y: -50 z: 40])
|
* go home * from (-23; -54; 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: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: -39 y: 40 z: 80 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-39; 40; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 40 z: 140, gripper: open, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: -39 y: 40 z: 80 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* go close to it * from(-39; 40; 140)* to (-39; 40; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 40 z: 70, gripper: open, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: -39 y: 40 z: 80 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 40 z: 70, gripper: close, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: -39 y: 40 z: 80 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* move up * from (-39; 40; 70) * to (-39; 40; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -39 y: 40 z: 380, gripper: close, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: -39 y: 40 z: 380 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* go above the other element * from (-39; 40; 680) * to (35; 28; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 35 y: 28 z: 300, gripper: close, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: 35 y: 28 z: 300 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 35 y: 28 z: 300, gripper: open, black-cup x: 35 y: 28 z: 0 , green-circle x: -7 y: 27 z: 40 , green-rectangle x: 51 y: -21 z: 80 , grey-rectangle x: 35 y: 28 z: 0 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: -50 y: -39 z: 40])
|
* go home * from (35; 28; 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: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: 29 y: 11 z: 80 , red-triangle x: -4 y: 28 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (29; 11; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 11 z: 140, gripper: open, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: 29 y: 11 z: 80 , red-triangle x: -4 y: 28 z: 40])
|
* go close to it * from(29; 11; 140)* to (29; 11; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 11 z: 70, gripper: open, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: 29 y: 11 z: 80 , red-triangle x: -4 y: 28 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 11 z: 70, gripper: close, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: 29 y: 11 z: 80 , red-triangle x: -4 y: 28 z: 40])
|
* move up * from (29; 11; 70) * to (29; 11; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 29 y: 11 z: 380, gripper: close, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: 29 y: 11 z: 380 , red-triangle x: -4 y: 28 z: 40])
|
* go above the other element * from (29; 11; 680) * to (-31; -10; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 300, gripper: close, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: -31 y: -10 z: 300 , red-triangle x: -4 y: 28 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -31 y: -10 z: 300, gripper: open, black-cup x: -31 y: -10 z: 0 , green-circle x: -11 y: -2 z: 40 , green-rectangle x: -10 y: -22 z: 80 , grey-rectangle x: 46 y: 31 z: 80 , red-rectangle x: -31 y: -10 z: 0 , red-triangle x: -4 y: 28 z: 40])
|
* go home * from (-31; -10; 300) * to (380; 0; 620)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: 24 y: 0 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (24; 0; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 24 y: 0 z: 100, gripper: open, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: 24 y: 0 z: 40])
|
* go close to it * from(24; 0; 100)* to (24; 0; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 24 y: 0 z: 30, gripper: open, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: 24 y: 0 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 24 y: 0 z: 30, gripper: close, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: 24 y: 0 z: 40])
|
* move up * from (24; 0; 30) * to (24; 0; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 24 y: 0 z: 340, gripper: close, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: 24 y: 0 z: 340])
|
* go above the other element * from (24; 0; 640) * to (-43; -51; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -43 y: -51 z: 300, gripper: close, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: -43 y: -51 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -43 y: -51 z: 300, gripper: open, black-cup x: -43 y: -51 z: 0 , green-circle x: -52 y: 18 z: 40 , green-rectangle x: -45 y: 18 z: 80 , grey-rectangle x: 46 y: 26 z: 80 , red-rectangle x: -54 y: -47 z: 80 , red-triangle x: -43 y: -51 z: 0])
|
* go home * from (-43; -51; 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: 8 y: 10 z: 0 , green-circle x: 54 y: -6 z: 40 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (54; -6; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: -6 z: 100, gripper: open, black-cup x: 8 y: 10 z: 0 , green-circle x: 54 y: -6 z: 40 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* go close to it * from(54; -6; 100)* to (54; -6; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: -6 z: 30, gripper: open, black-cup x: 8 y: 10 z: 0 , green-circle x: 54 y: -6 z: 40 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: -6 z: 30, gripper: close, black-cup x: 8 y: 10 z: 0 , green-circle x: 54 y: -6 z: 40 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* move up * from (54; -6; 30) * to (54; -6; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 54 y: -6 z: 340, gripper: close, black-cup x: 8 y: 10 z: 0 , green-circle x: 54 y: -6 z: 340 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* go above the other element * from (54; -6; 640) * to (8; 10; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 10 z: 300, gripper: close, black-cup x: 8 y: 10 z: 0 , green-circle x: 8 y: 10 z: 300 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 8 y: 10 z: 300, gripper: open, black-cup x: 8 y: 10 z: 0 , green-circle x: 8 y: 10 z: 0 , green-rectangle x: -16 y: -5 z: 80 , grey-rectangle x: 2 y: -55 z: 80 , red-rectangle x: -31 y: 1 z: 80 , red-triangle x: -54 y: 29 z: 40])
|
* go home * from (8; 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: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: 44 y: -35 z: 80 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (44; -35; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -35 z: 140, gripper: open, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: 44 y: -35 z: 80 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* go close to it * from(44; -35; 140)* to (44; -35; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -35 z: 70, gripper: open, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: 44 y: -35 z: 80 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -35 z: 70, gripper: close, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: 44 y: -35 z: 80 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* move up * from (44; -35; 70) * to (44; -35; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 44 y: -35 z: 380, gripper: close, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: 44 y: -35 z: 380 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* go above the other element * from (44; -35; 680) * to (-18; 3; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 3 z: 300, gripper: close, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: -18 y: 3 z: 300 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -18 y: 3 z: 300, gripper: open, black-cup x: -18 y: 3 z: 0 , green-circle x: 53 y: 4 z: 40 , green-rectangle x: -18 y: 3 z: 0 , grey-rectangle x: 44 y: -3 z: 80 , red-rectangle x: 22 y: -37 z: 80 , red-triangle x: 26 y: 9 z: 40])
|
* go home * from (-18; 3; 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: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 2 y: -5 z: 80 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (2; -5; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -5 z: 140, gripper: open, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 2 y: -5 z: 80 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* go close to it * from(2; -5; 140)* to (2; -5; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -5 z: 70, gripper: open, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 2 y: -5 z: 80 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -5 z: 70, gripper: close, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 2 y: -5 z: 80 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* move up * from (2; -5; 70) * to (2; -5; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 2 y: -5 z: 380, gripper: close, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 2 y: -5 z: 380 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* go above the other element * from (2; -5; 680) * to (50; 34; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 50 y: 34 z: 300, gripper: close, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 50 y: 34 z: 300 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 50 y: 34 z: 300, gripper: open, black-cup x: 50 y: 34 z: 0 , green-circle x: 59 y: -45 z: 40 , green-rectangle x: -1 y: 53 z: 80 , grey-rectangle x: 50 y: 34 z: 0 , red-rectangle x: 37 y: 23 z: 80 , red-triangle x: -21 y: -45 z: 40])
|
* go home * from (50; 34; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: 55 y: 30 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (28; 9; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 28 y: 9 z: 140, gripper: open, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: 55 y: 30 z: 40])
|
* go close to it * from(28; 9; 140)* to (28; 9; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 28 y: 9 z: 70, gripper: open, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: 55 y: 30 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 28 y: 9 z: 70, gripper: close, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: 55 y: 30 z: 40])
|
* move up * from (28; 9; 70) * to (28; 9; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 28 y: 9 z: 380, gripper: close, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: 28 y: 9 z: 380 , red-triangle x: 55 y: 30 z: 40])
|
* go above the other element * from (28; 9; 680) * to (-10; 57; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -10 y: 57 z: 300, gripper: close, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: -10 y: 57 z: 300 , red-triangle x: 55 y: 30 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -10 y: 57 z: 300, gripper: open, black-cup x: -10 y: 57 z: 0 , green-circle x: 30 y: -59 z: 40 , green-rectangle x: 28 y: -45 z: 80 , grey-rectangle x: 50 y: -37 z: 80 , red-rectangle x: -10 y: 57 z: 0 , red-triangle x: 55 y: 30 z: 40])
|
* go home * from (-10; 57; 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: 58 y: -43 z: 0 , green-circle x: -12 y: 47 z: 40 , green-rectangle x: -38 y: 44 z: 80 , grey-rectangle x: -27 y: -3 z: 80 , red-rectangle x: -8 y: 44 z: 80 , red-triangle x: -15 y: 57 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-15; 57; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -15 y: 57 z: 100, gripper: open, black-cup x: 58 y: -43 z: 0 , green-circle x: -12 y: 47 z: 40 , green-rectangle x: -38 y: 44 z: 80 , grey-rectangle x: -27 y: -3 z: 80 , red-rectangle x: -8 y: 44 z: 80 , red-triangle x: -15 y: 57 z: 40])
|
* go close to it * from(-15; 57; 100)* to (-15; 57; 30)
|
take the red-triangle and put it inside the black cup
|
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