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table([ eof x: 32 y: -48 z: 300, gripper: open, black-cup x: 32 y: -48 z: 0 , green-circle x: 0 y: 19 z: 40 , green-rectangle x: 47 y: 3 z: 80 , grey-rectangle x: 32 y: -48 z: 0 , red-rectangle x: 32 y: 20 z: 80 , red-triangle x: -30 y: 42 z: 40])
|
* go home * from (32; -48; 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: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -56 y: 29 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-47; -41; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -47 y: -41 z: 140, gripper: open, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -56 y: 29 z: 40])
|
* go close to it * from(-47; -41; 140)* to (-47; -41; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -47 y: -41 z: 70, gripper: open, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -56 y: 29 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -47 y: -41 z: 70, gripper: close, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -56 y: 29 z: 40])
|
* move up * from (-47; -41; 70) * to (-47; -41; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -47 y: -41 z: 380, gripper: close, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -47 y: -41 z: 380 , red-triangle x: -56 y: 29 z: 40])
|
* go above the other element * from (-47; -41; 680) * to (-44; 2; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: 2 z: 300, gripper: close, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -44 y: 2 z: 300 , red-triangle x: -56 y: 29 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -44 y: 2 z: 300, gripper: open, black-cup x: -44 y: 2 z: 0 , green-circle x: -12 y: -44 z: 40 , green-rectangle x: 27 y: 2 z: 80 , grey-rectangle x: 6 y: -16 z: 80 , red-rectangle x: -44 y: 2 z: 0 , red-triangle x: -56 y: 29 z: 40])
|
* go home * from (-44; 2; 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: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 10 y: 28 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (10; 28; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 10 y: 28 z: 100, gripper: open, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 10 y: 28 z: 40])
|
* go close to it * from(10; 28; 100)* to (10; 28; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 10 y: 28 z: 30, gripper: open, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 10 y: 28 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 10 y: 28 z: 30, gripper: close, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 10 y: 28 z: 40])
|
* move up * from (10; 28; 30) * to (10; 28; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 10 y: 28 z: 340, gripper: close, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 10 y: 28 z: 340])
|
* go above the other element * from (10; 28; 640) * to (9; -56; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -56 z: 300, gripper: close, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 9 y: -56 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 9 y: -56 z: 300, gripper: open, black-cup x: 9 y: -56 z: 0 , green-circle x: -14 y: 21 z: 40 , green-rectangle x: 10 y: 9 z: 80 , grey-rectangle x: -55 y: 57 z: 80 , red-rectangle x: 50 y: 34 z: 80 , red-triangle x: 9 y: -56 z: 0])
|
* go home * from (9; -56; 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: -31 y: -53 z: 0 , green-circle x: -41 y: -59 z: 40 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-41; -59; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -41 y: -59 z: 100, gripper: open, black-cup x: -31 y: -53 z: 0 , green-circle x: -41 y: -59 z: 40 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* go close to it * from(-41; -59; 100)* to (-41; -59; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -41 y: -59 z: 30, gripper: open, black-cup x: -31 y: -53 z: 0 , green-circle x: -41 y: -59 z: 40 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -41 y: -59 z: 30, gripper: close, black-cup x: -31 y: -53 z: 0 , green-circle x: -41 y: -59 z: 40 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* move up * from (-41; -59; 30) * to (-41; -59; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -41 y: -59 z: 340, gripper: close, black-cup x: -31 y: -53 z: 0 , green-circle x: -41 y: -59 z: 340 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* go above the other element * from (-41; -59; 640) * to (-31; -53; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -53 z: 300, gripper: close, black-cup x: -31 y: -53 z: 0 , green-circle x: -31 y: -53 z: 300 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -31 y: -53 z: 300, gripper: open, black-cup x: -31 y: -53 z: 0 , green-circle x: -31 y: -53 z: 0 , green-rectangle x: -49 y: 57 z: 80 , grey-rectangle x: 51 y: -40 z: 80 , red-rectangle x: 36 y: 36 z: 80 , red-triangle x: 21 y: 51 z: 40])
|
* go home * from (-31; -53; 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: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 22 y: -56 z: 80 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (22; -56; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -56 z: 140, gripper: open, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 22 y: -56 z: 80 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* go close to it * from(22; -56; 140)* to (22; -56; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -56 z: 70, gripper: open, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 22 y: -56 z: 80 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -56 z: 70, gripper: close, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 22 y: -56 z: 80 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* move up * from (22; -56; 70) * to (22; -56; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 22 y: -56 z: 380, gripper: close, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 22 y: -56 z: 380 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* go above the other element * from (22; -56; 680) * to (46; -31; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 46 y: -31 z: 300, gripper: close, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 46 y: -31 z: 300 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 46 y: -31 z: 300, gripper: open, black-cup x: 46 y: -31 z: 0 , green-circle x: 29 y: 47 z: 40 , green-rectangle x: 46 y: -31 z: 0 , grey-rectangle x: -51 y: 16 z: 80 , red-rectangle x: 8 y: -42 z: 80 , red-triangle x: -21 y: 1 z: 40])
|
* go home * from (46; -31; 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: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: -54 y: 32 z: 80 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-54; 32; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -54 y: 32 z: 140, gripper: open, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: -54 y: 32 z: 80 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* go close to it * from(-54; 32; 140)* to (-54; 32; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -54 y: 32 z: 70, gripper: open, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: -54 y: 32 z: 80 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -54 y: 32 z: 70, gripper: close, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: -54 y: 32 z: 80 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* move up * from (-54; 32; 70) * to (-54; 32; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -54 y: 32 z: 380, gripper: close, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: -54 y: 32 z: 380 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* go above the other element * from (-54; 32; 680) * to (59; 10; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 10 z: 300, gripper: close, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: 59 y: 10 z: 300 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 59 y: 10 z: 300, gripper: open, black-cup x: 59 y: 10 z: 0 , green-circle x: -41 y: 38 z: 40 , green-rectangle x: 37 y: 18 z: 80 , grey-rectangle x: 59 y: 10 z: 0 , red-rectangle x: -2 y: 38 z: 80 , red-triangle x: 19 y: -46 z: 40])
|
* go home * from (59; 10; 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: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: -41 y: 2 z: 80 , red-triangle x: -1 y: 32 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-41; 2; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 2 z: 140, gripper: open, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: -41 y: 2 z: 80 , red-triangle x: -1 y: 32 z: 40])
|
* go close to it * from(-41; 2; 140)* to (-41; 2; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 2 z: 70, gripper: open, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: -41 y: 2 z: 80 , red-triangle x: -1 y: 32 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 2 z: 70, gripper: close, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: -41 y: 2 z: 80 , red-triangle x: -1 y: 32 z: 40])
|
* move up * from (-41; 2; 70) * to (-41; 2; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -41 y: 2 z: 380, gripper: close, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: -41 y: 2 z: 380 , red-triangle x: -1 y: 32 z: 40])
|
* go above the other element * from (-41; 2; 680) * to (35; -30; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 35 y: -30 z: 300, gripper: close, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: 35 y: -30 z: 300 , red-triangle x: -1 y: 32 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 35 y: -30 z: 300, gripper: open, black-cup x: 35 y: -30 z: 0 , green-circle x: 32 y: 38 z: 40 , green-rectangle x: 2 y: 46 z: 80 , grey-rectangle x: -17 y: 15 z: 80 , red-rectangle x: 35 y: -30 z: 0 , red-triangle x: -1 y: 32 z: 40])
|
* go home * from (35; -30; 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: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: -24 y: -40 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-24; -40; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 100, gripper: open, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: -24 y: -40 z: 40])
|
* go close to it * from(-24; -40; 100)* to (-24; -40; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 30, gripper: open, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: -24 y: -40 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 30, gripper: close, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: -24 y: -40 z: 40])
|
* move up * from (-24; -40; 30) * to (-24; -40; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -24 y: -40 z: 340, gripper: close, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: -24 y: -40 z: 340])
|
* go above the other element * from (-24; -40; 640) * to (2; -40; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -40 z: 300, gripper: close, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: 2 y: -40 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 2 y: -40 z: 300, gripper: open, black-cup x: 2 y: -40 z: 0 , green-circle x: -22 y: -8 z: 40 , green-rectangle x: 4 y: 57 z: 80 , grey-rectangle x: 16 y: -23 z: 80 , red-rectangle x: 27 y: -52 z: 80 , red-triangle x: 2 y: -40 z: 0])
|
* go home * from (2; -40; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 5 y: -11 z: 0 , green-circle x: 23 y: -21 z: 40 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (23; -21; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 23 y: -21 z: 100, gripper: open, black-cup x: 5 y: -11 z: 0 , green-circle x: 23 y: -21 z: 40 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* go close to it * from(23; -21; 100)* to (23; -21; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 23 y: -21 z: 30, gripper: open, black-cup x: 5 y: -11 z: 0 , green-circle x: 23 y: -21 z: 40 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 23 y: -21 z: 30, gripper: close, black-cup x: 5 y: -11 z: 0 , green-circle x: 23 y: -21 z: 40 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* move up * from (23; -21; 30) * to (23; -21; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 23 y: -21 z: 340, gripper: close, black-cup x: 5 y: -11 z: 0 , green-circle x: 23 y: -21 z: 340 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* go above the other element * from (23; -21; 640) * to (5; -11; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 5 y: -11 z: 300, gripper: close, black-cup x: 5 y: -11 z: 0 , green-circle x: 5 y: -11 z: 300 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 5 y: -11 z: 300, gripper: open, black-cup x: 5 y: -11 z: 0 , green-circle x: 5 y: -11 z: 0 , green-rectangle x: -6 y: -34 z: 80 , grey-rectangle x: -56 y: -22 z: 80 , red-rectangle x: -36 y: 47 z: 80 , red-triangle x: -35 y: 42 z: 40])
|
* go home * from (5; -11; 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: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -37 y: -42 z: 80 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-37; -42; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -42 z: 140, gripper: open, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -37 y: -42 z: 80 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* go close to it * from(-37; -42; 140)* to (-37; -42; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -42 z: 70, gripper: open, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -37 y: -42 z: 80 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -42 z: 70, gripper: close, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -37 y: -42 z: 80 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* move up * from (-37; -42; 70) * to (-37; -42; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -37 y: -42 z: 380, gripper: close, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -37 y: -42 z: 380 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* go above the other element * from (-37; -42; 680) * to (-23; -7; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -7 z: 300, gripper: close, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -23 y: -7 z: 300 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -23 y: -7 z: 300, gripper: open, black-cup x: -23 y: -7 z: 0 , green-circle x: -36 y: -42 z: 40 , green-rectangle x: -23 y: -7 z: 0 , grey-rectangle x: -6 y: 8 z: 80 , red-rectangle x: -5 y: -31 z: 80 , red-triangle x: -33 y: 11 z: 40])
|
* go home * from (-23; -7; 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: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: 45 y: -20 z: 80 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (45; -20; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 45 y: -20 z: 140, gripper: open, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: 45 y: -20 z: 80 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* go close to it * from(45; -20; 140)* to (45; -20; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 45 y: -20 z: 70, gripper: open, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: 45 y: -20 z: 80 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 45 y: -20 z: 70, gripper: close, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: 45 y: -20 z: 80 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* move up * from (45; -20; 70) * to (45; -20; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 45 y: -20 z: 380, gripper: close, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: 45 y: -20 z: 380 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* go above the other element * from (45; -20; 680) * to (-26; 20; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -26 y: 20 z: 300, gripper: close, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: -26 y: 20 z: 300 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -26 y: 20 z: 300, gripper: open, black-cup x: -26 y: 20 z: 0 , green-circle x: 55 y: 5 z: 40 , green-rectangle x: 1 y: -25 z: 80 , grey-rectangle x: -26 y: 20 z: 0 , red-rectangle x: -49 y: -27 z: 80 , red-triangle x: -52 y: -59 z: 40])
|
* go home * from (-26; 20; 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: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: 14 y: -10 z: 80 , red-triangle x: 0 y: -45 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (14; -10; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -10 z: 140, gripper: open, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: 14 y: -10 z: 80 , red-triangle x: 0 y: -45 z: 40])
|
* go close to it * from(14; -10; 140)* to (14; -10; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -10 z: 70, gripper: open, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: 14 y: -10 z: 80 , red-triangle x: 0 y: -45 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -10 z: 70, gripper: close, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: 14 y: -10 z: 80 , red-triangle x: 0 y: -45 z: 40])
|
* move up * from (14; -10; 70) * to (14; -10; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 14 y: -10 z: 380, gripper: close, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: 14 y: -10 z: 380 , red-triangle x: 0 y: -45 z: 40])
|
* go above the other element * from (14; -10; 680) * to (-16; 30; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -16 y: 30 z: 300, gripper: close, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: -16 y: 30 z: 300 , red-triangle x: 0 y: -45 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -16 y: 30 z: 300, gripper: open, black-cup x: -16 y: 30 z: 0 , green-circle x: -54 y: -44 z: 40 , green-rectangle x: -10 y: 47 z: 80 , grey-rectangle x: -54 y: -13 z: 80 , red-rectangle x: -16 y: 30 z: 0 , red-triangle x: 0 y: -45 z: 40])
|
* go home * from (-16; 30; 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: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 54 y: -9 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (54; -9; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 54 y: -9 z: 100, gripper: open, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 54 y: -9 z: 40])
|
* go close to it * from(54; -9; 100)* to (54; -9; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 54 y: -9 z: 30, gripper: open, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 54 y: -9 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 54 y: -9 z: 30, gripper: close, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 54 y: -9 z: 40])
|
* move up * from (54; -9; 30) * to (54; -9; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 54 y: -9 z: 340, gripper: close, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 54 y: -9 z: 340])
|
* go above the other element * from (54; -9; 640) * to (41; 39; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 41 y: 39 z: 300, gripper: close, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 41 y: 39 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 41 y: 39 z: 300, gripper: open, black-cup x: 41 y: 39 z: 0 , green-circle x: -58 y: 20 z: 40 , green-rectangle x: -52 y: -17 z: 80 , grey-rectangle x: 55 y: -38 z: 80 , red-rectangle x: 21 y: -37 z: 80 , red-triangle x: 41 y: 39 z: 0])
|
* go home * from (41; 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: -27 y: 12 z: 0 , green-circle x: 14 y: 11 z: 40 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (14; 11; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 11 z: 100, gripper: open, black-cup x: -27 y: 12 z: 0 , green-circle x: 14 y: 11 z: 40 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* go close to it * from(14; 11; 100)* to (14; 11; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 11 z: 30, gripper: open, black-cup x: -27 y: 12 z: 0 , green-circle x: 14 y: 11 z: 40 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 11 z: 30, gripper: close, black-cup x: -27 y: 12 z: 0 , green-circle x: 14 y: 11 z: 40 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* move up * from (14; 11; 30) * to (14; 11; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 14 y: 11 z: 340, gripper: close, black-cup x: -27 y: 12 z: 0 , green-circle x: 14 y: 11 z: 340 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* go above the other element * from (14; 11; 640) * to (-27; 12; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 12 z: 300, gripper: close, black-cup x: -27 y: 12 z: 0 , green-circle x: -27 y: 12 z: 300 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: -27 y: 12 z: 300, gripper: open, black-cup x: -27 y: 12 z: 0 , green-circle x: -27 y: 12 z: 0 , green-rectangle x: 27 y: -30 z: 80 , grey-rectangle x: 36 y: 8 z: 80 , red-rectangle x: -24 y: -25 z: 80 , red-triangle x: 13 y: -56 z: 40])
|
* go home * from (-27; 12; 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: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 13 y: 37 z: 80 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (13; 37; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 37 z: 140, gripper: open, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 13 y: 37 z: 80 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* go close to it * from(13; 37; 140)* to (13; 37; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 37 z: 70, gripper: open, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 13 y: 37 z: 80 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 37 z: 70, gripper: close, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 13 y: 37 z: 80 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* move up * from (13; 37; 70) * to (13; 37; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 13 y: 37 z: 380, gripper: close, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 13 y: 37 z: 380 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* go above the other element * from (13; 37; 680) * to (39; -21; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -21 z: 300, gripper: close, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 39 y: -21 z: 300 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 39 y: -21 z: 300, gripper: open, black-cup x: 39 y: -21 z: 0 , green-circle x: -10 y: 22 z: 40 , green-rectangle x: 39 y: -21 z: 0 , grey-rectangle x: 10 y: -10 z: 80 , red-rectangle x: -40 y: 26 z: 80 , red-triangle x: -6 y: 7 z: 40])
|
* go home * from (39; -21; 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: -16 y: -50 z: 0 , green-circle x: -39 y: 32 z: 40 , green-rectangle x: 47 y: -36 z: 80 , grey-rectangle x: -36 y: -18 z: 80 , red-rectangle x: -51 y: 52 z: 80 , red-triangle x: -2 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-36; -18; 140)
|
take the grey-rectangle and put it inside the black cup
|
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