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marcomaccarini

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ds_robot_20

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* go above the element to pick * from (380; 0; 620) * to (-34; 33; 100)

take the green-circle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -32 y: 32 z: 0 , green-circle x: -34 y: 33 z: 40 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* go close to it * from(-34; 33; 100)* to (-34; 33; 30)

take the green-circle and put it inside the black cup

table([ eof x: -34 y: 33 z: 100, gripper: open, black-cup x: -32 y: 32 z: 0 , green-circle x: -34 y: 33 z: 40 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: -34 y: 33 z: 30, gripper: open, black-cup x: -32 y: 32 z: 0 , green-circle x: -34 y: 33 z: 40 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* move up * from (-34; 33; 30) * to (-34; 33; 340)

take the green-circle and put it inside the black cup

table([ eof x: -34 y: 33 z: 30, gripper: close, black-cup x: -32 y: 32 z: 0 , green-circle x: -34 y: 33 z: 40 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* go above the other element * from (-34; 33; 340) * to (-32; 32; 300)

take the green-circle and put it inside the black cup

table([ eof x: -34 y: 33 z: 340, gripper: close, black-cup x: -32 y: 32 z: 0 , green-circle x: -34 y: 33 z: 40 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: -32 y: 32 z: 300, gripper: close, black-cup x: -32 y: 32 z: 0 , green-circle x: -32 y: 32 z: 300 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* go home * from (-32; 32; 300) * to (380; 0; 620)

take the green-circle and put it inside the black cup

table([ eof x: -32 y: 32 z: 300, gripper: open, black-cup x: -32 y: 32 z: 0 , green-circle x: -32 y: 32 z: 0 , green-rectangle x: 28 y: 34 z: 80 , grey-rectangle x: 46 y: -19 z: 80 , red-rectangle x: 3 y: 11 z: 80 , red-triangle x: -34 y: -58 z: 40])

* go above the element to pick * from (380; 0; 620) * to (28; -42; 140)

take the green-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: 28 y: -42 z: 80 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* go close to it * from(28; -42; 140)* to (28; -42; 70)

take the green-rectangle and put it inside the black cup

table([ eof x: 28 y: -42 z: 140, gripper: open, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: 28 y: -42 z: 80 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 28 y: -42 z: 70, gripper: open, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: 28 y: -42 z: 80 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* move up * from (28; -42; 70) * to (28; -42; 380)

take the green-rectangle and put it inside the black cup

table([ eof x: 28 y: -42 z: 70, gripper: close, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: 28 y: -42 z: 80 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* go above the other element * from (28; -42; 380) * to (-9; -37; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 28 y: -42 z: 380, gripper: close, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: 28 y: -42 z: 80 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: -9 y: -37 z: 300, gripper: close, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: -9 y: -37 z: 300 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* go home * from (-9; -37; 300) * to (380; 0; 620)

take the green-rectangle and put it inside the black cup

table([ eof x: -9 y: -37 z: 300, gripper: open, black-cup x: -9 y: -37 z: 0 , green-circle x: -27 y: 3 z: 40 , green-rectangle x: -9 y: -37 z: 0 , grey-rectangle x: 9 y: -48 z: 80 , red-rectangle x: -32 y: -50 z: 80 , red-triangle x: 21 y: -41 z: 40])

* go above the element to pick * from (380; 0; 620) * to (57; 20; 140)

take the grey-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 57 y: 20 z: 80 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* go close to it * from(57; 20; 140)* to (57; 20; 70)

take the grey-rectangle and put it inside the black cup

table([ eof x: 57 y: 20 z: 140, gripper: open, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 57 y: 20 z: 80 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 57 y: 20 z: 70, gripper: open, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 57 y: 20 z: 80 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* move up * from (57; 20; 70) * to (57; 20; 380)

take the grey-rectangle and put it inside the black cup

table([ eof x: 57 y: 20 z: 70, gripper: close, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 57 y: 20 z: 80 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* go above the other element * from (57; 20; 380) * to (6; 8; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 57 y: 20 z: 380, gripper: close, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 57 y: 20 z: 80 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 6 y: 8 z: 300, gripper: close, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 6 y: 8 z: 300 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* go home * from (6; 8; 300) * to (380; 0; 620)

take the grey-rectangle and put it inside the black cup

table([ eof x: 6 y: 8 z: 300, gripper: open, black-cup x: 6 y: 8 z: 0 , green-circle x: 1 y: 21 z: 40 , green-rectangle x: -17 y: 34 z: 80 , grey-rectangle x: 6 y: 8 z: 0 , red-rectangle x: 21 y: -43 z: 80 , red-triangle x: 21 y: 22 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-51; 11; 140)

take the red-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -51 y: 11 z: 80 , red-triangle x: 42 y: -54 z: 40])

* go close to it * from(-51; 11; 140)* to (-51; 11; 70)

take the red-rectangle and put it inside the black cup

table([ eof x: -51 y: 11 z: 140, gripper: open, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -51 y: 11 z: 80 , red-triangle x: 42 y: -54 z: 40])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -51 y: 11 z: 70, gripper: open, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -51 y: 11 z: 80 , red-triangle x: 42 y: -54 z: 40])

* move up * from (-51; 11; 70) * to (-51; 11; 380)

take the red-rectangle and put it inside the black cup

table([ eof x: -51 y: 11 z: 70, gripper: close, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -51 y: 11 z: 80 , red-triangle x: 42 y: -54 z: 40])

* go above the other element * from (-51; 11; 380) * to (-17; -21; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -51 y: 11 z: 380, gripper: close, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -51 y: 11 z: 80 , red-triangle x: 42 y: -54 z: 40])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -17 y: -21 z: 300, gripper: close, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -17 y: -21 z: 300 , red-triangle x: 42 y: -54 z: 40])

* go home * from (-17; -21; 300) * to (380; 0; 620)

take the red-rectangle and put it inside the black cup

table([ eof x: -17 y: -21 z: 300, gripper: open, black-cup x: -17 y: -21 z: 0 , green-circle x: 30 y: -17 z: 40 , green-rectangle x: 54 y: -53 z: 80 , grey-rectangle x: 19 y: 21 z: 80 , red-rectangle x: -17 y: -21 z: 0 , red-triangle x: 42 y: -54 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-52; -36; 100)

take the red-triangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -52 y: -36 z: 40])

* go close to it * from(-52; -36; 100)* to (-52; -36; 30)

take the red-triangle and put it inside the black cup

table([ eof x: -52 y: -36 z: 100, gripper: open, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -52 y: -36 z: 40])

* grasp it * close gripper

take the red-triangle and put it inside the black cup

table([ eof x: -52 y: -36 z: 30, gripper: open, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -52 y: -36 z: 40])

* move up * from (-52; -36; 30) * to (-52; -36; 340)

take the red-triangle and put it inside the black cup

table([ eof x: -52 y: -36 z: 30, gripper: close, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -52 y: -36 z: 40])

* go above the other element * from (-52; -36; 340) * to (-55; 35; 300)

take the red-triangle and put it inside the black cup

table([ eof x: -52 y: -36 z: 340, gripper: close, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -52 y: -36 z: 40])

* leave the element * open gripper

take the red-triangle and put it inside the black cup

table([ eof x: -55 y: 35 z: 300, gripper: close, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -55 y: 35 z: 300])

* go home * from (-55; 35; 300) * to (380; 0; 620)

take the red-triangle and put it inside the black cup

table([ eof x: -55 y: 35 z: 300, gripper: open, black-cup x: -55 y: 35 z: 0 , green-circle x: 16 y: -36 z: 40 , green-rectangle x: -33 y: -22 z: 80 , grey-rectangle x: -58 y: -30 z: 80 , red-rectangle x: -10 y: -13 z: 80 , red-triangle x: -55 y: 35 z: 0])

* go above the element to pick * from (380; 0; 620) * to (2; -17; 100)

take the green-circle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -37 y: -3 z: 0 , green-circle x: 2 y: -17 z: 40 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* go close to it * from(2; -17; 100)* to (2; -17; 30)

take the green-circle and put it inside the black cup

table([ eof x: 2 y: -17 z: 100, gripper: open, black-cup x: -37 y: -3 z: 0 , green-circle x: 2 y: -17 z: 40 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: 2 y: -17 z: 30, gripper: open, black-cup x: -37 y: -3 z: 0 , green-circle x: 2 y: -17 z: 40 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* move up * from (2; -17; 30) * to (2; -17; 340)

take the green-circle and put it inside the black cup

table([ eof x: 2 y: -17 z: 30, gripper: close, black-cup x: -37 y: -3 z: 0 , green-circle x: 2 y: -17 z: 40 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* go above the other element * from (2; -17; 340) * to (-37; -3; 300)

take the green-circle and put it inside the black cup

table([ eof x: 2 y: -17 z: 340, gripper: close, black-cup x: -37 y: -3 z: 0 , green-circle x: 2 y: -17 z: 40 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: -37 y: -3 z: 300, gripper: close, black-cup x: -37 y: -3 z: 0 , green-circle x: -37 y: -3 z: 300 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* go home * from (-37; -3; 300) * to (380; 0; 620)

take the green-circle and put it inside the black cup

table([ eof x: -37 y: -3 z: 300, gripper: open, black-cup x: -37 y: -3 z: 0 , green-circle x: -37 y: -3 z: 0 , green-rectangle x: -4 y: -22 z: 80 , grey-rectangle x: 33 y: -57 z: 80 , red-rectangle x: -38 y: 17 z: 80 , red-triangle x: 13 y: 41 z: 40])

* go above the element to pick * from (380; 0; 620) * to (37; -17; 140)

take the green-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: 37 y: -17 z: 80 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* go close to it * from(37; -17; 140)* to (37; -17; 70)

take the green-rectangle and put it inside the black cup

table([ eof x: 37 y: -17 z: 140, gripper: open, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: 37 y: -17 z: 80 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 37 y: -17 z: 70, gripper: open, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: 37 y: -17 z: 80 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* move up * from (37; -17; 70) * to (37; -17; 380)

take the green-rectangle and put it inside the black cup

table([ eof x: 37 y: -17 z: 70, gripper: close, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: 37 y: -17 z: 80 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* go above the other element * from (37; -17; 380) * to (-39; 27; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 37 y: -17 z: 380, gripper: close, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: 37 y: -17 z: 80 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: -39 y: 27 z: 300, gripper: close, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: -39 y: 27 z: 300 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* go home * from (-39; 27; 300) * to (380; 0; 620)

take the green-rectangle and put it inside the black cup

table([ eof x: -39 y: 27 z: 300, gripper: open, black-cup x: -39 y: 27 z: 0 , green-circle x: -29 y: -52 z: 40 , green-rectangle x: -39 y: 27 z: 0 , grey-rectangle x: 18 y: -41 z: 80 , red-rectangle x: -29 y: -33 z: 80 , red-triangle x: 53 y: -57 z: 40])

* go above the element to pick * from (380; 0; 620) * to (4; 45; 140)

take the grey-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: 4 y: 45 z: 80 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* go close to it * from(4; 45; 140)* to (4; 45; 70)

take the grey-rectangle and put it inside the black cup

table([ eof x: 4 y: 45 z: 140, gripper: open, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: 4 y: 45 z: 80 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 4 y: 45 z: 70, gripper: open, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: 4 y: 45 z: 80 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* move up * from (4; 45; 70) * to (4; 45; 380)

take the grey-rectangle and put it inside the black cup

table([ eof x: 4 y: 45 z: 70, gripper: close, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: 4 y: 45 z: 80 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* go above the other element * from (4; 45; 380) * to (-43; -19; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 4 y: 45 z: 380, gripper: close, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: 4 y: 45 z: 80 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: -43 y: -19 z: 300, gripper: close, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: -43 y: -19 z: 300 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* go home * from (-43; -19; 300) * to (380; 0; 620)

take the grey-rectangle and put it inside the black cup

table([ eof x: -43 y: -19 z: 300, gripper: open, black-cup x: -43 y: -19 z: 0 , green-circle x: 22 y: 32 z: 40 , green-rectangle x: 28 y: 5 z: 80 , grey-rectangle x: -43 y: -19 z: 0 , red-rectangle x: -32 y: -39 z: 80 , red-triangle x: -17 y: 4 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-7; 52; 140)

take the red-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: -7 y: 52 z: 80 , red-triangle x: 53 y: 33 z: 40])

* go close to it * from(-7; 52; 140)* to (-7; 52; 70)

take the red-rectangle and put it inside the black cup

table([ eof x: -7 y: 52 z: 140, gripper: open, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: -7 y: 52 z: 80 , red-triangle x: 53 y: 33 z: 40])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -7 y: 52 z: 70, gripper: open, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: -7 y: 52 z: 80 , red-triangle x: 53 y: 33 z: 40])

* move up * from (-7; 52; 70) * to (-7; 52; 380)

take the red-rectangle and put it inside the black cup

table([ eof x: -7 y: 52 z: 70, gripper: close, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: -7 y: 52 z: 80 , red-triangle x: 53 y: 33 z: 40])

* go above the other element * from (-7; 52; 380) * to (54; 2; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -7 y: 52 z: 380, gripper: close, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: -7 y: 52 z: 80 , red-triangle x: 53 y: 33 z: 40])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: 54 y: 2 z: 300, gripper: close, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: 54 y: 2 z: 300 , red-triangle x: 53 y: 33 z: 40])

* go home * from (54; 2; 300) * to (380; 0; 620)

take the red-rectangle and put it inside the black cup

table([ eof x: 54 y: 2 z: 300, gripper: open, black-cup x: 54 y: 2 z: 0 , green-circle x: -57 y: -33 z: 40 , green-rectangle x: 15 y: 48 z: 80 , grey-rectangle x: -42 y: -45 z: 80 , red-rectangle x: 54 y: 2 z: 0 , red-triangle x: 53 y: 33 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-17; -15; 100)

take the red-triangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -17 y: -15 z: 40])

* go close to it * from(-17; -15; 100)* to (-17; -15; 30)

take the red-triangle and put it inside the black cup

table([ eof x: -17 y: -15 z: 100, gripper: open, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -17 y: -15 z: 40])

* grasp it * close gripper

take the red-triangle and put it inside the black cup

table([ eof x: -17 y: -15 z: 30, gripper: open, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -17 y: -15 z: 40])

* move up * from (-17; -15; 30) * to (-17; -15; 340)

take the red-triangle and put it inside the black cup

table([ eof x: -17 y: -15 z: 30, gripper: close, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -17 y: -15 z: 40])

* go above the other element * from (-17; -15; 340) * to (-11; -8; 300)

take the red-triangle and put it inside the black cup

table([ eof x: -17 y: -15 z: 340, gripper: close, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -17 y: -15 z: 40])

* leave the element * open gripper

take the red-triangle and put it inside the black cup

table([ eof x: -11 y: -8 z: 300, gripper: close, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -11 y: -8 z: 300])

* go home * from (-11; -8; 300) * to (380; 0; 620)

take the red-triangle and put it inside the black cup

table([ eof x: -11 y: -8 z: 300, gripper: open, black-cup x: -11 y: -8 z: 0 , green-circle x: -36 y: 6 z: 40 , green-rectangle x: 40 y: -23 z: 80 , grey-rectangle x: 47 y: -10 z: 80 , red-rectangle x: 54 y: -48 z: 80 , red-triangle x: -11 y: -8 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-54; -5; 100)

take the green-circle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -36 y: 13 z: 0 , green-circle x: -54 y: -5 z: 40 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* go close to it * from(-54; -5; 100)* to (-54; -5; 30)

take the green-circle and put it inside the black cup

table([ eof x: -54 y: -5 z: 100, gripper: open, black-cup x: -36 y: 13 z: 0 , green-circle x: -54 y: -5 z: 40 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: -54 y: -5 z: 30, gripper: open, black-cup x: -36 y: 13 z: 0 , green-circle x: -54 y: -5 z: 40 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* move up * from (-54; -5; 30) * to (-54; -5; 340)

take the green-circle and put it inside the black cup

table([ eof x: -54 y: -5 z: 30, gripper: close, black-cup x: -36 y: 13 z: 0 , green-circle x: -54 y: -5 z: 40 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* go above the other element * from (-54; -5; 340) * to (-36; 13; 300)

take the green-circle and put it inside the black cup

table([ eof x: -54 y: -5 z: 340, gripper: close, black-cup x: -36 y: 13 z: 0 , green-circle x: -54 y: -5 z: 40 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: -36 y: 13 z: 300, gripper: close, black-cup x: -36 y: 13 z: 0 , green-circle x: -36 y: 13 z: 300 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* go home * from (-36; 13; 300) * to (380; 0; 620)

take the green-circle and put it inside the black cup

table([ eof x: -36 y: 13 z: 300, gripper: open, black-cup x: -36 y: 13 z: 0 , green-circle x: -36 y: 13 z: 0 , green-rectangle x: -4 y: 1 z: 80 , grey-rectangle x: 27 y: -57 z: 80 , red-rectangle x: 17 y: 27 z: 80 , red-triangle x: -38 y: 56 z: 40])

* go above the element to pick * from (380; 0; 620) * to (13; -27; 140)

take the green-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: 13 y: -27 z: 80 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* go close to it * from(13; -27; 140)* to (13; -27; 70)

take the green-rectangle and put it inside the black cup

table([ eof x: 13 y: -27 z: 140, gripper: open, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: 13 y: -27 z: 80 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 13 y: -27 z: 70, gripper: open, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: 13 y: -27 z: 80 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* move up * from (13; -27; 70) * to (13; -27; 380)

take the green-rectangle and put it inside the black cup

table([ eof x: 13 y: -27 z: 70, gripper: close, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: 13 y: -27 z: 80 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* go above the other element * from (13; -27; 380) * to (-34; 0; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 13 y: -27 z: 380, gripper: close, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: 13 y: -27 z: 80 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: -34 y: 0 z: 300, gripper: close, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: -34 y: 0 z: 300 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* go home * from (-34; 0; 300) * to (380; 0; 620)

take the green-rectangle and put it inside the black cup

table([ eof x: -34 y: 0 z: 300, gripper: open, black-cup x: -34 y: 0 z: 0 , green-circle x: 28 y: 53 z: 40 , green-rectangle x: -34 y: 0 z: 0 , grey-rectangle x: 50 y: 30 z: 80 , red-rectangle x: 54 y: -15 z: 80 , red-triangle x: 7 y: 37 z: 40])

* go above the element to pick * from (380; 0; 620) * to (21; 27; 140)

take the grey-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 21 y: 27 z: 80 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* go close to it * from(21; 27; 140)* to (21; 27; 70)

take the grey-rectangle and put it inside the black cup

table([ eof x: 21 y: 27 z: 140, gripper: open, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 21 y: 27 z: 80 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 21 y: 27 z: 70, gripper: open, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 21 y: 27 z: 80 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* move up * from (21; 27; 70) * to (21; 27; 380)

take the grey-rectangle and put it inside the black cup

table([ eof x: 21 y: 27 z: 70, gripper: close, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 21 y: 27 z: 80 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* go above the other element * from (21; 27; 380) * to (17; 12; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 21 y: 27 z: 380, gripper: close, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 21 y: 27 z: 80 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 17 y: 12 z: 300, gripper: close, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 17 y: 12 z: 300 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* go home * from (17; 12; 300) * to (380; 0; 620)

take the grey-rectangle and put it inside the black cup

table([ eof x: 17 y: 12 z: 300, gripper: open, black-cup x: 17 y: 12 z: 0 , green-circle x: -49 y: -39 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 17 y: 12 z: 0 , red-rectangle x: 21 y: -28 z: 80 , red-triangle x: -1 y: 32 z: 40])

* go above the element to pick * from (380; 0; 620) * to (23; 15; 140)

take the red-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 23 y: 15 z: 80 , red-triangle x: -18 y: 56 z: 40])

* go close to it * from(23; 15; 140)* to (23; 15; 70)

take the red-rectangle and put it inside the black cup

table([ eof x: 23 y: 15 z: 140, gripper: open, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 23 y: 15 z: 80 , red-triangle x: -18 y: 56 z: 40])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: 23 y: 15 z: 70, gripper: open, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 23 y: 15 z: 80 , red-triangle x: -18 y: 56 z: 40])

* move up * from (23; 15; 70) * to (23; 15; 380)

take the red-rectangle and put it inside the black cup

table([ eof x: 23 y: 15 z: 70, gripper: close, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 23 y: 15 z: 80 , red-triangle x: -18 y: 56 z: 40])

* go above the other element * from (23; 15; 380) * to (52; 21; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: 23 y: 15 z: 380, gripper: close, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 23 y: 15 z: 80 , red-triangle x: -18 y: 56 z: 40])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: 52 y: 21 z: 300, gripper: close, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 52 y: 21 z: 300 , red-triangle x: -18 y: 56 z: 40])

* go home * from (52; 21; 300) * to (380; 0; 620)

take the red-rectangle and put it inside the black cup

table([ eof x: 52 y: 21 z: 300, gripper: open, black-cup x: 52 y: 21 z: 0 , green-circle x: -42 y: 55 z: 40 , green-rectangle x: 15 y: 53 z: 80 , grey-rectangle x: 46 y: -52 z: 80 , red-rectangle x: 52 y: 21 z: 0 , red-triangle x: -18 y: 56 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-30; -33; 100)

take the red-triangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 0 y: -51 z: 0 , green-circle x: -53 y: 45 z: 40 , green-rectangle x: -29 y: 3 z: 80 , grey-rectangle x: -57 y: -58 z: 80 , red-rectangle x: -9 y: 6 z: 80 , red-triangle x: -30 y: -33 z: 40])

* go close to it * from(-30; -33; 100)* to (-30; -33; 30)

take the red-triangle and put it inside the black cup

table([ eof x: -30 y: -33 z: 100, gripper: open, black-cup x: 0 y: -51 z: 0 , green-circle x: -53 y: 45 z: 40 , green-rectangle x: -29 y: 3 z: 80 , grey-rectangle x: -57 y: -58 z: 80 , red-rectangle x: -9 y: 6 z: 80 , red-triangle x: -30 y: -33 z: 40])