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table([ eof x: 22 y: 28 z: 300, gripper: close, black-cup x: 22 y: 28 z: 0 , green-circle x: 22 y: 28 z: 300 , green-rectangle x: -44 y: -28 z: 80 , grey-rectangle x: -47 y: -17 z: 80 , red-rectangle x: -4 y: -16 z: 80 , red-triangle x: -43 y: -37 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 22 y: 28 z: 300, gripper: open, black-cup x: 22 y: 28 z: 0 , green-circle x: 22 y: 28 z: 0 , green-rectangle x: -44 y: -28 z: 80 , grey-rectangle x: -47 y: -17 z: 80 , red-rectangle x: -4 y: -16 z: 80 , red-triangle x: -43 y: -37 z: 40])
|
* go home * from (22; 28; 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: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -17 y: 10 z: 80 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-17; 10; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 10 z: 140, gripper: open, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -17 y: 10 z: 80 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* go close to it * from(-17; 10; 140)* to (-17; 10; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 10 z: 70, gripper: open, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -17 y: 10 z: 80 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 10 z: 70, gripper: close, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -17 y: 10 z: 80 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* move up * from (-17; 10; 70) * to (-17; 10; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -17 y: 10 z: 380, gripper: close, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -17 y: 10 z: 380 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* go above the other element * from (-17; 10; 680) * to (-4; 39; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -4 y: 39 z: 300, gripper: close, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -4 y: 39 z: 300 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -4 y: 39 z: 300, gripper: open, black-cup x: -4 y: 39 z: 0 , green-circle x: -4 y: 3 z: 40 , green-rectangle x: -4 y: 39 z: 0 , grey-rectangle x: -47 y: 55 z: 80 , red-rectangle x: -25 y: 54 z: 80 , red-triangle x: -6 y: -40 z: 40])
|
* go home * from (-4; 39; 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: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: -53 y: 49 z: 80 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-53; 49; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -53 y: 49 z: 140, gripper: open, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: -53 y: 49 z: 80 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* go close to it * from(-53; 49; 140)* to (-53; 49; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -53 y: 49 z: 70, gripper: open, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: -53 y: 49 z: 80 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -53 y: 49 z: 70, gripper: close, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: -53 y: 49 z: 80 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* move up * from (-53; 49; 70) * to (-53; 49; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -53 y: 49 z: 380, gripper: close, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: -53 y: 49 z: 380 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* go above the other element * from (-53; 49; 680) * to (55; 23; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 55 y: 23 z: 300, gripper: close, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: 55 y: 23 z: 300 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 55 y: 23 z: 300, gripper: open, black-cup x: 55 y: 23 z: 0 , green-circle x: 3 y: -53 z: 40 , green-rectangle x: -46 y: 13 z: 80 , grey-rectangle x: 55 y: 23 z: 0 , red-rectangle x: 11 y: -31 z: 80 , red-triangle x: 42 y: 20 z: 40])
|
* go home * from (55; 23; 300) * to (380; 0; 620)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -49 y: -38 z: 80 , red-triangle x: 48 y: -25 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-49; -38; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -38 z: 140, gripper: open, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -49 y: -38 z: 80 , red-triangle x: 48 y: -25 z: 40])
|
* go close to it * from(-49; -38; 140)* to (-49; -38; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -38 z: 70, gripper: open, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -49 y: -38 z: 80 , red-triangle x: 48 y: -25 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -38 z: 70, gripper: close, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -49 y: -38 z: 80 , red-triangle x: 48 y: -25 z: 40])
|
* move up * from (-49; -38; 70) * to (-49; -38; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -49 y: -38 z: 380, gripper: close, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -49 y: -38 z: 380 , red-triangle x: 48 y: -25 z: 40])
|
* go above the other element * from (-49; -38; 680) * to (-51; 41; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 41 z: 300, gripper: close, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -51 y: 41 z: 300 , red-triangle x: 48 y: -25 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -51 y: 41 z: 300, gripper: open, black-cup x: -51 y: 41 z: 0 , green-circle x: -3 y: -41 z: 40 , green-rectangle x: 22 y: 32 z: 80 , grey-rectangle x: -21 y: -22 z: 80 , red-rectangle x: -51 y: 41 z: 0 , red-triangle x: 48 y: -25 z: 40])
|
* go home * from (-51; 41; 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: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: 1 y: 37 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (1; 37; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 1 y: 37 z: 100, gripper: open, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: 1 y: 37 z: 40])
|
* go close to it * from(1; 37; 100)* to (1; 37; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 1 y: 37 z: 30, gripper: open, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: 1 y: 37 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 1 y: 37 z: 30, gripper: close, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: 1 y: 37 z: 40])
|
* move up * from (1; 37; 30) * to (1; 37; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 1 y: 37 z: 340, gripper: close, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: 1 y: 37 z: 340])
|
* go above the other element * from (1; 37; 640) * to (-27; -37; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -27 y: -37 z: 300, gripper: close, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: -27 y: -37 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -27 y: -37 z: 300, gripper: open, black-cup x: -27 y: -37 z: 0 , green-circle x: 30 y: -56 z: 40 , green-rectangle x: 34 y: 0 z: 80 , grey-rectangle x: -19 y: -13 z: 80 , red-rectangle x: -22 y: -24 z: 80 , red-triangle x: -27 y: -37 z: 0])
|
* go home * from (-27; -37; 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: 58 y: -52 z: 0 , green-circle x: 13 y: -49 z: 40 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (13; -49; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 13 y: -49 z: 100, gripper: open, black-cup x: 58 y: -52 z: 0 , green-circle x: 13 y: -49 z: 40 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* go close to it * from(13; -49; 100)* to (13; -49; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 13 y: -49 z: 30, gripper: open, black-cup x: 58 y: -52 z: 0 , green-circle x: 13 y: -49 z: 40 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 13 y: -49 z: 30, gripper: close, black-cup x: 58 y: -52 z: 0 , green-circle x: 13 y: -49 z: 40 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* move up * from (13; -49; 30) * to (13; -49; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 13 y: -49 z: 340, gripper: close, black-cup x: 58 y: -52 z: 0 , green-circle x: 13 y: -49 z: 340 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* go above the other element * from (13; -49; 640) * to (58; -52; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 58 y: -52 z: 300, gripper: close, black-cup x: 58 y: -52 z: 0 , green-circle x: 58 y: -52 z: 300 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 58 y: -52 z: 300, gripper: open, black-cup x: 58 y: -52 z: 0 , green-circle x: 58 y: -52 z: 0 , green-rectangle x: -35 y: 55 z: 80 , grey-rectangle x: 43 y: 52 z: 80 , red-rectangle x: 2 y: 47 z: 80 , red-triangle x: 15 y: 0 z: 40])
|
* go home * from (58; -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: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 43 y: 8 z: 80 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (43; 8; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 43 y: 8 z: 140, gripper: open, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 43 y: 8 z: 80 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* go close to it * from(43; 8; 140)* to (43; 8; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 43 y: 8 z: 70, gripper: open, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 43 y: 8 z: 80 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 43 y: 8 z: 70, gripper: close, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 43 y: 8 z: 80 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* move up * from (43; 8; 70) * to (43; 8; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 43 y: 8 z: 380, gripper: close, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 43 y: 8 z: 380 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* go above the other element * from (43; 8; 680) * to (57; -52; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 57 y: -52 z: 300, gripper: close, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 57 y: -52 z: 300 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 57 y: -52 z: 300, gripper: open, black-cup x: 57 y: -52 z: 0 , green-circle x: 56 y: 33 z: 40 , green-rectangle x: 57 y: -52 z: 0 , grey-rectangle x: 5 y: -19 z: 80 , red-rectangle x: -15 y: 50 z: 80 , red-triangle x: -5 y: -50 z: 40])
|
* go home * from (57; -52; 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: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: -2 y: 33 z: 80 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-2; 33; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 33 z: 140, gripper: open, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: -2 y: 33 z: 80 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* go close to it * from(-2; 33; 140)* to (-2; 33; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 33 z: 70, gripper: open, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: -2 y: 33 z: 80 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 33 z: 70, gripper: close, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: -2 y: 33 z: 80 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* move up * from (-2; 33; 70) * to (-2; 33; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -2 y: 33 z: 380, gripper: close, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: -2 y: 33 z: 380 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* go above the other element * from (-2; 33; 680) * to (0; 8; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 8 z: 300, gripper: close, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: 0 y: 8 z: 300 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 8 z: 300, gripper: open, black-cup x: 0 y: 8 z: 0 , green-circle x: -20 y: 42 z: 40 , green-rectangle x: -32 y: 20 z: 80 , grey-rectangle x: 0 y: 8 z: 0 , red-rectangle x: -32 y: 58 z: 80 , red-triangle x: 28 y: 51 z: 40])
|
* go home * from (0; 8; 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: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: -38 y: 45 z: 80 , red-triangle x: 22 y: 26 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-38; 45; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -38 y: 45 z: 140, gripper: open, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: -38 y: 45 z: 80 , red-triangle x: 22 y: 26 z: 40])
|
* go close to it * from(-38; 45; 140)* to (-38; 45; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -38 y: 45 z: 70, gripper: open, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: -38 y: 45 z: 80 , red-triangle x: 22 y: 26 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -38 y: 45 z: 70, gripper: close, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: -38 y: 45 z: 80 , red-triangle x: 22 y: 26 z: 40])
|
* move up * from (-38; 45; 70) * to (-38; 45; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -38 y: 45 z: 380, gripper: close, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: -38 y: 45 z: 380 , red-triangle x: 22 y: 26 z: 40])
|
* go above the other element * from (-38; 45; 680) * to (25; -28; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -28 z: 300, gripper: close, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: 25 y: -28 z: 300 , red-triangle x: 22 y: 26 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 25 y: -28 z: 300, gripper: open, black-cup x: 25 y: -28 z: 0 , green-circle x: 13 y: 51 z: 40 , green-rectangle x: 19 y: 24 z: 80 , grey-rectangle x: 14 y: 3 z: 80 , red-rectangle x: 25 y: -28 z: 0 , red-triangle x: 22 y: 26 z: 40])
|
* go home * from (25; -28; 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: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -19 y: -7 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-19; -7; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -19 y: -7 z: 100, gripper: open, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -19 y: -7 z: 40])
|
* go close to it * from(-19; -7; 100)* to (-19; -7; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -19 y: -7 z: 30, gripper: open, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -19 y: -7 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -19 y: -7 z: 30, gripper: close, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -19 y: -7 z: 40])
|
* move up * from (-19; -7; 30) * to (-19; -7; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -19 y: -7 z: 340, gripper: close, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -19 y: -7 z: 340])
|
* go above the other element * from (-19; -7; 640) * to (-22; 42; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: 42 z: 300, gripper: close, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -22 y: 42 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: -22 y: 42 z: 300, gripper: open, black-cup x: -22 y: 42 z: 0 , green-circle x: -25 y: -57 z: 40 , green-rectangle x: -5 y: 17 z: 80 , grey-rectangle x: 59 y: 37 z: 80 , red-rectangle x: -49 y: -44 z: 80 , red-triangle x: -22 y: 42 z: 0])
|
* go home * from (-22; 42; 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: 39 y: 3 z: 0 , green-circle x: 29 y: -28 z: 40 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (29; -28; 100)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 29 y: -28 z: 100, gripper: open, black-cup x: 39 y: 3 z: 0 , green-circle x: 29 y: -28 z: 40 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* go close to it * from(29; -28; 100)* to (29; -28; 30)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 29 y: -28 z: 30, gripper: open, black-cup x: 39 y: 3 z: 0 , green-circle x: 29 y: -28 z: 40 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* grasp it * close gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 29 y: -28 z: 30, gripper: close, black-cup x: 39 y: 3 z: 0 , green-circle x: 29 y: -28 z: 40 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* move up * from (29; -28; 30) * to (29; -28; 340)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 29 y: -28 z: 340, gripper: close, black-cup x: 39 y: 3 z: 0 , green-circle x: 29 y: -28 z: 340 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* go above the other element * from (29; -28; 640) * to (39; 3; 300)
|
take the green-circle and put it inside the black cup
|
table([ eof x: 39 y: 3 z: 300, gripper: close, black-cup x: 39 y: 3 z: 0 , green-circle x: 39 y: 3 z: 300 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* leave the element * open gripper
|
take the green-circle and put it inside the black cup
|
table([ eof x: 39 y: 3 z: 300, gripper: open, black-cup x: 39 y: 3 z: 0 , green-circle x: 39 y: 3 z: 0 , green-rectangle x: -23 y: 34 z: 80 , grey-rectangle x: 43 y: -52 z: 80 , red-rectangle x: -41 y: 25 z: 80 , red-triangle x: -25 y: 18 z: 40])
|
* go home * from (39; 3; 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: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: -27 y: 37 z: 80 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (-27; 37; 140)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 37 z: 140, gripper: open, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: -27 y: 37 z: 80 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* go close to it * from(-27; 37; 140)* to (-27; 37; 70)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 37 z: 70, gripper: open, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: -27 y: 37 z: 80 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* grasp it * close gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 37 z: 70, gripper: close, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: -27 y: 37 z: 80 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* move up * from (-27; 37; 70) * to (-27; 37; 380)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: -27 y: 37 z: 380, gripper: close, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: -27 y: 37 z: 380 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* go above the other element * from (-27; 37; 680) * to (0; 31; 300)
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 31 z: 300, gripper: close, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: 0 y: 31 z: 300 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* leave the element * open gripper
|
take the green-rectangle and put it inside the black cup
|
table([ eof x: 0 y: 31 z: 300, gripper: open, black-cup x: 0 y: 31 z: 0 , green-circle x: 54 y: 15 z: 40 , green-rectangle x: 0 y: 31 z: 0 , grey-rectangle x: -25 y: 30 z: 80 , red-rectangle x: 35 y: -2 z: 80 , red-triangle x: -49 y: -55 z: 40])
|
* go home * from (0; 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: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: 5 y: 26 z: 80 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (5; 26; 140)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 26 z: 140, gripper: open, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: 5 y: 26 z: 80 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go close to it * from(5; 26; 140)* to (5; 26; 70)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 26 z: 70, gripper: open, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: 5 y: 26 z: 80 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* grasp it * close gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 26 z: 70, gripper: close, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: 5 y: 26 z: 80 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* move up * from (5; 26; 70) * to (5; 26; 380)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: 5 y: 26 z: 380, gripper: close, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: 5 y: 26 z: 380 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go above the other element * from (5; 26; 680) * to (-21; -40; 300)
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -21 y: -40 z: 300, gripper: close, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: -21 y: -40 z: 300 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* leave the element * open gripper
|
take the grey-rectangle and put it inside the black cup
|
table([ eof x: -21 y: -40 z: 300, gripper: open, black-cup x: -21 y: -40 z: 0 , green-circle x: -44 y: 30 z: 40 , green-rectangle x: 26 y: -57 z: 80 , grey-rectangle x: -21 y: -40 z: 0 , red-rectangle x: -18 y: 31 z: 80 , red-triangle x: 0 y: 2 z: 40])
|
* go home * from (-21; -40; 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: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: 31 y: 26 z: 80 , red-triangle x: 46 y: -36 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (31; 26; 140)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 31 y: 26 z: 140, gripper: open, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: 31 y: 26 z: 80 , red-triangle x: 46 y: -36 z: 40])
|
* go close to it * from(31; 26; 140)* to (31; 26; 70)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 31 y: 26 z: 70, gripper: open, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: 31 y: 26 z: 80 , red-triangle x: 46 y: -36 z: 40])
|
* grasp it * close gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 31 y: 26 z: 70, gripper: close, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: 31 y: 26 z: 80 , red-triangle x: 46 y: -36 z: 40])
|
* move up * from (31; 26; 70) * to (31; 26; 380)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: 31 y: 26 z: 380, gripper: close, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: 31 y: 26 z: 380 , red-triangle x: 46 y: -36 z: 40])
|
* go above the other element * from (31; 26; 680) * to (-31; 19; 300)
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -31 y: 19 z: 300, gripper: close, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: -31 y: 19 z: 300 , red-triangle x: 46 y: -36 z: 40])
|
* leave the element * open gripper
|
take the red-rectangle and put it inside the black cup
|
table([ eof x: -31 y: 19 z: 300, gripper: open, black-cup x: -31 y: 19 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -3 y: -30 z: 80 , grey-rectangle x: -40 y: 1 z: 80 , red-rectangle x: -31 y: 19 z: 0 , red-triangle x: 46 y: -36 z: 40])
|
* go home * from (-31; 19; 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: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 15 y: -1 z: 40])
|
* go above the element to pick * from (380; 0; 620) * to (15; -1; 100)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 15 y: -1 z: 100, gripper: open, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 15 y: -1 z: 40])
|
* go close to it * from(15; -1; 100)* to (15; -1; 30)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 15 y: -1 z: 30, gripper: open, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 15 y: -1 z: 40])
|
* grasp it * close gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 15 y: -1 z: 30, gripper: close, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 15 y: -1 z: 40])
|
* move up * from (15; -1; 30) * to (15; -1; 340)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 15 y: -1 z: 340, gripper: close, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 15 y: -1 z: 340])
|
* go above the other element * from (15; -1; 640) * to (16; 52; 300)
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 16 y: 52 z: 300, gripper: close, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 16 y: 52 z: 300])
|
* leave the element * open gripper
|
take the red-triangle and put it inside the black cup
|
table([ eof x: 16 y: 52 z: 300, gripper: open, black-cup x: 16 y: 52 z: 0 , green-circle x: 3 y: 25 z: 40 , green-rectangle x: 38 y: -31 z: 80 , grey-rectangle x: -4 y: 8 z: 80 , red-rectangle x: 4 y: -20 z: 80 , red-triangle x: 16 y: 52 z: 0])
|
* go home * from (16; 52; 300) * to (380; 0; 620)
|
take the red-triangle and put it inside the black cup
|
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