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marcomaccarini

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ds_robot_20

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* go home * from (59; 11; 300) * to (380; 0; 620)

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

table([ eof x: 59 y: 11 z: 300, gripper: open, black-cup x: 59 y: 11 z: 0 , green-circle x: -18 y: -9 z: 40 , green-rectangle x: -46 y: 28 z: 80 , grey-rectangle x: 59 y: 11 z: 0 , red-rectangle x: 31 y: -10 z: 80 , red-triangle x: -27 y: 3 z: 40])

* go above the element to pick * from (380; 0; 620) * to (25; -33; 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: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 25 y: -33 z: 80 , red-triangle x: 59 y: 56 z: 40])

* go close to it * from(25; -33; 140)* to (25; -33; 70)

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

table([ eof x: 25 y: -33 z: 140, gripper: open, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 25 y: -33 z: 80 , red-triangle x: 59 y: 56 z: 40])

* grasp it * close gripper

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

table([ eof x: 25 y: -33 z: 70, gripper: open, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 25 y: -33 z: 80 , red-triangle x: 59 y: 56 z: 40])

* move up * from (25; -33; 70) * to (25; -33; 380)

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

table([ eof x: 25 y: -33 z: 70, gripper: close, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 25 y: -33 z: 80 , red-triangle x: 59 y: 56 z: 40])

* go above the other element * from (25; -33; 380) * to (8; -44; 300)

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

table([ eof x: 25 y: -33 z: 380, gripper: close, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 25 y: -33 z: 80 , red-triangle x: 59 y: 56 z: 40])

* leave the element * open gripper

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

table([ eof x: 8 y: -44 z: 300, gripper: close, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 8 y: -44 z: 300 , red-triangle x: 59 y: 56 z: 40])

* go home * from (8; -44; 300) * to (380; 0; 620)

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

table([ eof x: 8 y: -44 z: 300, gripper: open, black-cup x: 8 y: -44 z: 0 , green-circle x: 33 y: -21 z: 40 , green-rectangle x: -4 y: 28 z: 80 , grey-rectangle x: 52 y: 25 z: 80 , red-rectangle x: 8 y: -44 z: 0 , red-triangle x: 59 y: 56 z: 40])

* go above the element to pick * from (380; 0; 620) * to (15; -10; 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: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: 15 y: -10 z: 40])

* go close to it * from(15; -10; 100)* to (15; -10; 30)

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

table([ eof x: 15 y: -10 z: 100, gripper: open, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: 15 y: -10 z: 40])

* grasp it * close gripper

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

table([ eof x: 15 y: -10 z: 30, gripper: open, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: 15 y: -10 z: 40])

* move up * from (15; -10; 30) * to (15; -10; 340)

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

table([ eof x: 15 y: -10 z: 30, gripper: close, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: 15 y: -10 z: 40])

* go above the other element * from (15; -10; 340) * to (-32; 16; 300)

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

table([ eof x: 15 y: -10 z: 340, gripper: close, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: 15 y: -10 z: 40])

* leave the element * open gripper

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

table([ eof x: -32 y: 16 z: 300, gripper: close, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: -32 y: 16 z: 300])

* go home * from (-32; 16; 300) * to (380; 0; 620)

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

table([ eof x: -32 y: 16 z: 300, gripper: open, black-cup x: -32 y: 16 z: 0 , green-circle x: 11 y: 20 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: -24 y: 30 z: 80 , red-rectangle x: -54 y: 33 z: 80 , red-triangle x: -32 y: 16 z: 0])

* go above the element to pick * from (380; 0; 620) * to (24; -44; 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: 22 y: 25 z: 0 , green-circle x: 24 y: -44 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* go close to it * from(24; -44; 100)* to (24; -44; 30)

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

table([ eof x: 24 y: -44 z: 100, gripper: open, black-cup x: 22 y: 25 z: 0 , green-circle x: 24 y: -44 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* grasp it * close gripper

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

table([ eof x: 24 y: -44 z: 30, gripper: open, black-cup x: 22 y: 25 z: 0 , green-circle x: 24 y: -44 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* move up * from (24; -44; 30) * to (24; -44; 340)

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

table([ eof x: 24 y: -44 z: 30, gripper: close, black-cup x: 22 y: 25 z: 0 , green-circle x: 24 y: -44 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* go above the other element * from (24; -44; 340) * to (22; 25; 300)

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

table([ eof x: 24 y: -44 z: 340, gripper: close, black-cup x: 22 y: 25 z: 0 , green-circle x: 24 y: -44 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* leave the element * open gripper

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

table([ eof x: 22 y: 25 z: 300, gripper: close, black-cup x: 22 y: 25 z: 0 , green-circle x: 22 y: 25 z: 300 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* go home * from (22; 25; 300) * to (380; 0; 620)

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

table([ eof x: 22 y: 25 z: 300, gripper: open, black-cup x: 22 y: 25 z: 0 , green-circle x: 22 y: 25 z: 0 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: 38 y: -27 z: 80 , red-rectangle x: 13 y: 51 z: 80 , red-triangle x: 0 y: -29 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-31; 24; 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: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -31 y: 24 z: 80 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* go close to it * from(-31; 24; 140)* to (-31; 24; 70)

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

table([ eof x: -31 y: 24 z: 140, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -31 y: 24 z: 80 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* grasp it * close gripper

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

table([ eof x: -31 y: 24 z: 70, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -31 y: 24 z: 80 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* move up * from (-31; 24; 70) * to (-31; 24; 380)

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

table([ eof x: -31 y: 24 z: 70, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -31 y: 24 z: 80 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* go above the other element * from (-31; 24; 380) * to (-16; 38; 300)

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

table([ eof x: -31 y: 24 z: 380, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -31 y: 24 z: 80 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* leave the element * open gripper

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

table([ eof x: -16 y: 38 z: 300, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -16 y: 38 z: 300 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* go home * from (-16; 38; 300) * to (380; 0; 620)

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

table([ eof x: -16 y: 38 z: 300, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 17 y: -5 z: 40 , green-rectangle x: -16 y: 38 z: 0 , grey-rectangle x: -28 y: 11 z: 80 , red-rectangle x: -22 y: 14 z: 80 , red-triangle x: 53 y: 18 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-29; -57; 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: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -29 y: -57 z: 80 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* go close to it * from(-29; -57; 140)* to (-29; -57; 70)

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

table([ eof x: -29 y: -57 z: 140, gripper: open, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -29 y: -57 z: 80 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* grasp it * close gripper

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

table([ eof x: -29 y: -57 z: 70, gripper: open, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -29 y: -57 z: 80 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* move up * from (-29; -57; 70) * to (-29; -57; 380)

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

table([ eof x: -29 y: -57 z: 70, gripper: close, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -29 y: -57 z: 80 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* go above the other element * from (-29; -57; 380) * to (-16; -9; 300)

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

table([ eof x: -29 y: -57 z: 380, gripper: close, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -29 y: -57 z: 80 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* leave the element * open gripper

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

table([ eof x: -16 y: -9 z: 300, gripper: close, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -16 y: -9 z: 300 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* go home * from (-16; -9; 300) * to (380; 0; 620)

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

table([ eof x: -16 y: -9 z: 300, gripper: open, black-cup x: -16 y: -9 z: 0 , green-circle x: 0 y: -4 z: 40 , green-rectangle x: -42 y: -24 z: 80 , grey-rectangle x: -16 y: -9 z: 0 , red-rectangle x: 9 y: -28 z: 80 , red-triangle x: 10 y: 54 z: 40])

* go above the element to pick * from (380; 0; 620) * to (11; -43; 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: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 11 y: -43 z: 80 , red-triangle x: -17 y: 22 z: 40])

* go close to it * from(11; -43; 140)* to (11; -43; 70)

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

table([ eof x: 11 y: -43 z: 140, gripper: open, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 11 y: -43 z: 80 , red-triangle x: -17 y: 22 z: 40])

* grasp it * close gripper

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

table([ eof x: 11 y: -43 z: 70, gripper: open, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 11 y: -43 z: 80 , red-triangle x: -17 y: 22 z: 40])

* move up * from (11; -43; 70) * to (11; -43; 380)

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

table([ eof x: 11 y: -43 z: 70, gripper: close, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 11 y: -43 z: 80 , red-triangle x: -17 y: 22 z: 40])

* go above the other element * from (11; -43; 380) * to (19; -12; 300)

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

table([ eof x: 11 y: -43 z: 380, gripper: close, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 11 y: -43 z: 80 , red-triangle x: -17 y: 22 z: 40])

* leave the element * open gripper

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

table([ eof x: 19 y: -12 z: 300, gripper: close, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 19 y: -12 z: 300 , red-triangle x: -17 y: 22 z: 40])

* go home * from (19; -12; 300) * to (380; 0; 620)

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

table([ eof x: 19 y: -12 z: 300, gripper: open, black-cup x: 19 y: -12 z: 0 , green-circle x: -28 y: -53 z: 40 , green-rectangle x: 27 y: -32 z: 80 , grey-rectangle x: 55 y: -1 z: 80 , red-rectangle x: 19 y: -12 z: 0 , red-triangle x: -17 y: 22 z: 40])

* go above the element to pick * from (380; 0; 620) * to (3; 50; 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: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: 3 y: 50 z: 40])

* go close to it * from(3; 50; 100)* to (3; 50; 30)

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

table([ eof x: 3 y: 50 z: 100, gripper: open, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: 3 y: 50 z: 40])

* grasp it * close gripper

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

table([ eof x: 3 y: 50 z: 30, gripper: open, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: 3 y: 50 z: 40])

* move up * from (3; 50; 30) * to (3; 50; 340)

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

table([ eof x: 3 y: 50 z: 30, gripper: close, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: 3 y: 50 z: 40])

* go above the other element * from (3; 50; 340) * to (-27; 9; 300)

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

table([ eof x: 3 y: 50 z: 340, gripper: close, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: 3 y: 50 z: 40])

* leave the element * open gripper

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

table([ eof x: -27 y: 9 z: 300, gripper: close, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: -27 y: 9 z: 300])

* go home * from (-27; 9; 300) * to (380; 0; 620)

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

table([ eof x: -27 y: 9 z: 300, gripper: open, black-cup x: -27 y: 9 z: 0 , green-circle x: -48 y: -49 z: 40 , green-rectangle x: 41 y: -33 z: 80 , grey-rectangle x: -31 y: 0 z: 80 , red-rectangle x: 23 y: 23 z: 80 , red-triangle x: -27 y: 9 z: 0])

* go above the element to pick * from (380; 0; 620) * to (25; 57; 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: -31 y: -13 z: 0 , green-circle x: 25 y: 57 z: 40 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* go close to it * from(25; 57; 100)* to (25; 57; 30)

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

table([ eof x: 25 y: 57 z: 100, gripper: open, black-cup x: -31 y: -13 z: 0 , green-circle x: 25 y: 57 z: 40 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* grasp it * close gripper

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

table([ eof x: 25 y: 57 z: 30, gripper: open, black-cup x: -31 y: -13 z: 0 , green-circle x: 25 y: 57 z: 40 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* move up * from (25; 57; 30) * to (25; 57; 340)

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

table([ eof x: 25 y: 57 z: 30, gripper: close, black-cup x: -31 y: -13 z: 0 , green-circle x: 25 y: 57 z: 40 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* go above the other element * from (25; 57; 340) * to (-31; -13; 300)

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

table([ eof x: 25 y: 57 z: 340, gripper: close, black-cup x: -31 y: -13 z: 0 , green-circle x: 25 y: 57 z: 40 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* leave the element * open gripper

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

table([ eof x: -31 y: -13 z: 300, gripper: close, black-cup x: -31 y: -13 z: 0 , green-circle x: -31 y: -13 z: 300 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* go home * from (-31; -13; 300) * to (380; 0; 620)

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

table([ eof x: -31 y: -13 z: 300, gripper: open, black-cup x: -31 y: -13 z: 0 , green-circle x: -31 y: -13 z: 0 , green-rectangle x: -51 y: -36 z: 80 , grey-rectangle x: -40 y: -8 z: 80 , red-rectangle x: 24 y: 6 z: 80 , red-triangle x: 5 y: 10 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-28; -37; 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: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -37 z: 80 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* go close to it * from(-28; -37; 140)* to (-28; -37; 70)

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

table([ eof x: -28 y: -37 z: 140, gripper: open, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -37 z: 80 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* grasp it * close gripper

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

table([ eof x: -28 y: -37 z: 70, gripper: open, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -37 z: 80 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* move up * from (-28; -37; 70) * to (-28; -37; 380)

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

table([ eof x: -28 y: -37 z: 70, gripper: close, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -37 z: 80 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* go above the other element * from (-28; -37; 380) * to (-28; -34; 300)

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

table([ eof x: -28 y: -37 z: 380, gripper: close, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -37 z: 80 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* leave the element * open gripper

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

table([ eof x: -28 y: -34 z: 300, gripper: close, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -34 z: 300 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* go home * from (-28; -34; 300) * to (380; 0; 620)

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

table([ eof x: -28 y: -34 z: 300, gripper: open, black-cup x: -28 y: -34 z: 0 , green-circle x: -53 y: -43 z: 40 , green-rectangle x: -28 y: -34 z: 0 , grey-rectangle x: -58 y: 49 z: 80 , red-rectangle x: 17 y: 10 z: 80 , red-triangle x: 18 y: 44 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-35; 11; 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: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: -35 y: 11 z: 80 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* go close to it * from(-35; 11; 140)* to (-35; 11; 70)

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

table([ eof x: -35 y: 11 z: 140, gripper: open, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: -35 y: 11 z: 80 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* grasp it * close gripper

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

table([ eof x: -35 y: 11 z: 70, gripper: open, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: -35 y: 11 z: 80 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* move up * from (-35; 11; 70) * to (-35; 11; 380)

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

table([ eof x: -35 y: 11 z: 70, gripper: close, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: -35 y: 11 z: 80 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* go above the other element * from (-35; 11; 380) * to (25; -39; 300)

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

table([ eof x: -35 y: 11 z: 380, gripper: close, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: -35 y: 11 z: 80 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* leave the element * open gripper

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

table([ eof x: 25 y: -39 z: 300, gripper: close, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: 25 y: -39 z: 300 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* go home * from (25; -39; 300) * to (380; 0; 620)

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

table([ eof x: 25 y: -39 z: 300, gripper: open, black-cup x: 25 y: -39 z: 0 , green-circle x: -39 y: -28 z: 40 , green-rectangle x: 35 y: 24 z: 80 , grey-rectangle x: 25 y: -39 z: 0 , red-rectangle x: 42 y: -35 z: 80 , red-triangle x: -42 y: -46 z: 40])

* go above the element to pick * from (380; 0; 620) * to (7; 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: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 7 y: 11 z: 80 , red-triangle x: -28 y: -30 z: 40])

* go close to it * from(7; 11; 140)* to (7; 11; 70)

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

table([ eof x: 7 y: 11 z: 140, gripper: open, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 7 y: 11 z: 80 , red-triangle x: -28 y: -30 z: 40])

* grasp it * close gripper

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

table([ eof x: 7 y: 11 z: 70, gripper: open, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 7 y: 11 z: 80 , red-triangle x: -28 y: -30 z: 40])

* move up * from (7; 11; 70) * to (7; 11; 380)

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

table([ eof x: 7 y: 11 z: 70, gripper: close, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 7 y: 11 z: 80 , red-triangle x: -28 y: -30 z: 40])

* go above the other element * from (7; 11; 380) * to (14; -4; 300)

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

table([ eof x: 7 y: 11 z: 380, gripper: close, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 7 y: 11 z: 80 , red-triangle x: -28 y: -30 z: 40])

* leave the element * open gripper

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

table([ eof x: 14 y: -4 z: 300, gripper: close, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 14 y: -4 z: 300 , red-triangle x: -28 y: -30 z: 40])

* go home * from (14; -4; 300) * to (380; 0; 620)

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

table([ eof x: 14 y: -4 z: 300, gripper: open, black-cup x: 14 y: -4 z: 0 , green-circle x: 15 y: 51 z: 40 , green-rectangle x: 52 y: -41 z: 80 , grey-rectangle x: 39 y: 47 z: 80 , red-rectangle x: 14 y: -4 z: 0 , red-triangle x: -28 y: -30 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-53; -19; 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: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: -53 y: -19 z: 40])

* go close to it * from(-53; -19; 100)* to (-53; -19; 30)

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

table([ eof x: -53 y: -19 z: 100, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: -53 y: -19 z: 40])

* grasp it * close gripper

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

table([ eof x: -53 y: -19 z: 30, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: -53 y: -19 z: 40])

* move up * from (-53; -19; 30) * to (-53; -19; 340)

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

table([ eof x: -53 y: -19 z: 30, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: -53 y: -19 z: 40])

* go above the other element * from (-53; -19; 340) * to (18; 0; 300)

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

table([ eof x: -53 y: -19 z: 340, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: -53 y: -19 z: 40])

* leave the element * open gripper

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

table([ eof x: 18 y: 0 z: 300, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: 18 y: 0 z: 300])

* go home * from (18; 0; 300) * to (380; 0; 620)

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

table([ eof x: 18 y: 0 z: 300, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 0 y: 58 z: 40 , green-rectangle x: -34 y: -31 z: 80 , grey-rectangle x: 23 y: -27 z: 80 , red-rectangle x: -6 y: -13 z: 80 , red-triangle x: 18 y: 0 z: 0])

* go above the element to pick * from (380; 0; 620) * to (51; -21; 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: 13 y: -27 z: 0 , green-circle x: 51 y: -21 z: 40 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* go close to it * from(51; -21; 100)* to (51; -21; 30)

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

table([ eof x: 51 y: -21 z: 100, gripper: open, black-cup x: 13 y: -27 z: 0 , green-circle x: 51 y: -21 z: 40 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* grasp it * close gripper

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

table([ eof x: 51 y: -21 z: 30, gripper: open, black-cup x: 13 y: -27 z: 0 , green-circle x: 51 y: -21 z: 40 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* move up * from (51; -21; 30) * to (51; -21; 340)

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

table([ eof x: 51 y: -21 z: 30, gripper: close, black-cup x: 13 y: -27 z: 0 , green-circle x: 51 y: -21 z: 40 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* go above the other element * from (51; -21; 340) * to (13; -27; 300)

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

table([ eof x: 51 y: -21 z: 340, gripper: close, black-cup x: 13 y: -27 z: 0 , green-circle x: 51 y: -21 z: 40 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* leave the element * open gripper

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

table([ eof x: 13 y: -27 z: 300, gripper: close, black-cup x: 13 y: -27 z: 0 , green-circle x: 13 y: -27 z: 300 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* go home * from (13; -27; 300) * to (380; 0; 620)

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

table([ eof x: 13 y: -27 z: 300, gripper: open, black-cup x: 13 y: -27 z: 0 , green-circle x: 13 y: -27 z: 0 , green-rectangle x: 56 y: -23 z: 80 , grey-rectangle x: -2 y: -16 z: 80 , red-rectangle x: -32 y: -14 z: 80 , red-triangle x: -29 y: 15 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-24; -55; 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: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -24 y: -55 z: 80 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* go close to it * from(-24; -55; 140)* to (-24; -55; 70)

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

table([ eof x: -24 y: -55 z: 140, gripper: open, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -24 y: -55 z: 80 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* grasp it * close gripper

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

table([ eof x: -24 y: -55 z: 70, gripper: open, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -24 y: -55 z: 80 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* move up * from (-24; -55; 70) * to (-24; -55; 380)

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

table([ eof x: -24 y: -55 z: 70, gripper: close, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -24 y: -55 z: 80 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* go above the other element * from (-24; -55; 380) * to (-58; -55; 300)

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

table([ eof x: -24 y: -55 z: 380, gripper: close, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -24 y: -55 z: 80 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* leave the element * open gripper

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

table([ eof x: -58 y: -55 z: 300, gripper: close, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -58 y: -55 z: 300 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* go home * from (-58; -55; 300) * to (380; 0; 620)

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

table([ eof x: -58 y: -55 z: 300, gripper: open, black-cup x: -58 y: -55 z: 0 , green-circle x: -50 y: 46 z: 40 , green-rectangle x: -58 y: -55 z: 0 , grey-rectangle x: 28 y: -49 z: 80 , red-rectangle x: -6 y: -45 z: 80 , red-triangle x: -53 y: -3 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-1; 8; 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: 31 y: -38 z: 0 , green-circle x: -17 y: -54 z: 40 , green-rectangle x: -29 y: 46 z: 80 , grey-rectangle x: -1 y: 8 z: 80 , red-rectangle x: 53 y: 40 z: 80 , red-triangle x: -32 y: 32 z: 40])