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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 (48; -52; 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: 44 y: -3 z: 0 , green-circle x: 48 y: -52 z: 40 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* go close to it * from(48; -52; 100)* to (48; -52; 30)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: -52 z: 100, gripper: open, black-cup x: 44 y: -3 z: 0 , green-circle x: 48 y: -52 z: 40 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 48 y: -52 z: 30, gripper: open, black-cup x: 44 y: -3 z: 0 , green-circle x: 48 y: -52 z: 40 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* move up * from (48; -52; 30) * to (48; -52; 340)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: -52 z: 30, gripper: close, black-cup x: 44 y: -3 z: 0 , green-circle x: 48 y: -52 z: 40 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* go above the other element * from (48; -52; 340) * to (44; -3; 300)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: -52 z: 340, gripper: close, black-cup x: 44 y: -3 z: 0 , green-circle x: 48 y: -52 z: 40 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 44 y: -3 z: 300, gripper: close, black-cup x: 44 y: -3 z: 0 , green-circle x: 44 y: -3 z: 300 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* go home * from (44; -3; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 44 y: -3 z: 300, gripper: open, black-cup x: 44 y: -3 z: 0 , green-circle x: 44 y: -3 z: 0 , green-rectangle x: 27 y: 49 z: 80 , grey-rectangle x: -16 y: 54 z: 80 , red-rectangle x: 25 y: 36 z: 80 , red-triangle x: 15 y: 1 z: 40])
* go above the element to pick * from (380; 0; 620) * to (18; 38; 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: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* go close to it * from(18; 38; 140)* to (18; 38; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 18 y: 38 z: 140, gripper: open, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 18 y: 38 z: 70, gripper: open, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* move up * from (18; 38; 70) * to (18; 38; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 18 y: 38 z: 70, gripper: close, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* go above the other element * from (18; 38; 380) * to (-3; -3; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 18 y: 38 z: 380, gripper: close, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -3 y: -3 z: 300, gripper: close, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: -3 y: -3 z: 300 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* go home * from (-3; -3; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: -3 y: -3 z: 300, gripper: open, black-cup x: -3 y: -3 z: 0 , green-circle x: 49 y: 20 z: 40 , green-rectangle x: -3 y: -3 z: 0 , grey-rectangle x: 21 y: 22 z: 80 , red-rectangle x: 36 y: 0 z: 80 , red-triangle x: 26 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (57; 6; 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: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: 57 y: 6 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* go close to it * from(57; 6; 140)* to (57; 6; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: 6 z: 140, gripper: open, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: 57 y: 6 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: 6 z: 70, gripper: open, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: 57 y: 6 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* move up * from (57; 6; 70) * to (57; 6; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: 6 z: 70, gripper: close, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: 57 y: 6 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* go above the other element * from (57; 6; 380) * to (-26; -2; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: 6 z: 380, gripper: close, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: 57 y: 6 z: 80 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -26 y: -2 z: 300, gripper: close, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: -26 y: -2 z: 300 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* go home * from (-26; -2; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: -26 y: -2 z: 300, gripper: open, black-cup x: -26 y: -2 z: 0 , green-circle x: 11 y: 38 z: 40 , green-rectangle x: -27 y: -59 z: 80 , grey-rectangle x: -26 y: -2 z: 0 , red-rectangle x: -53 y: 57 z: 80 , red-triangle x: -36 y: 43 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-36; -42; 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: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: -36 y: -42 z: 80 , red-triangle x: -13 y: -28 z: 40])
* go close to it * from(-36; -42; 140)* to (-36; -42; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: -42 z: 140, gripper: open, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: -36 y: -42 z: 80 , red-triangle x: -13 y: -28 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: -42 z: 70, gripper: open, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: -36 y: -42 z: 80 , red-triangle x: -13 y: -28 z: 40])
* move up * from (-36; -42; 70) * to (-36; -42; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: -42 z: 70, gripper: close, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: -36 y: -42 z: 80 , red-triangle x: -13 y: -28 z: 40])
* go above the other element * from (-36; -42; 380) * to (27; 44; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: -42 z: 380, gripper: close, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: -36 y: -42 z: 80 , red-triangle x: -13 y: -28 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 27 y: 44 z: 300, gripper: close, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: 27 y: 44 z: 300 , red-triangle x: -13 y: -28 z: 40])
* go home * from (27; 44; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 27 y: 44 z: 300, gripper: open, black-cup x: 27 y: 44 z: 0 , green-circle x: -48 y: -48 z: 40 , green-rectangle x: 38 y: 21 z: 80 , grey-rectangle x: -10 y: 14 z: 80 , red-rectangle x: 27 y: 44 z: 0 , red-triangle x: -13 y: -28 z: 40])
* go above the element to pick * from (380; 0; 620) * to (28; 56; 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: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: 28 y: 56 z: 40])
* go close to it * from(28; 56; 100)* to (28; 56; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 28 y: 56 z: 100, gripper: open, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: 28 y: 56 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 28 y: 56 z: 30, gripper: open, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: 28 y: 56 z: 40])
* move up * from (28; 56; 30) * to (28; 56; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 28 y: 56 z: 30, gripper: close, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: 28 y: 56 z: 40])
* go above the other element * from (28; 56; 340) * to (-42; -34; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 28 y: 56 z: 340, gripper: close, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: 28 y: 56 z: 40])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -42 y: -34 z: 300, gripper: close, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: -42 y: -34 z: 300])
* go home * from (-42; -34; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: -42 y: -34 z: 300, gripper: open, black-cup x: -42 y: -34 z: 0 , green-circle x: 25 y: 15 z: 40 , green-rectangle x: 10 y: 55 z: 80 , grey-rectangle x: 9 y: 11 z: 80 , red-rectangle x: -17 y: -55 z: 80 , red-triangle x: -42 y: -34 z: 0])
* go above the element to pick * from (380; 0; 620) * to (-12; -37; 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: -30 z: 0 , green-circle x: -12 y: -37 z: 40 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* go close to it * from(-12; -37; 100)* to (-12; -37; 30)
take the green-circle and put it inside the black cup
table([ eof x: -12 y: -37 z: 100, gripper: open, black-cup x: 13 y: -30 z: 0 , green-circle x: -12 y: -37 z: 40 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -12 y: -37 z: 30, gripper: open, black-cup x: 13 y: -30 z: 0 , green-circle x: -12 y: -37 z: 40 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* move up * from (-12; -37; 30) * to (-12; -37; 340)
take the green-circle and put it inside the black cup
table([ eof x: -12 y: -37 z: 30, gripper: close, black-cup x: 13 y: -30 z: 0 , green-circle x: -12 y: -37 z: 40 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* go above the other element * from (-12; -37; 340) * to (13; -30; 300)
take the green-circle and put it inside the black cup
table([ eof x: -12 y: -37 z: 340, gripper: close, black-cup x: 13 y: -30 z: 0 , green-circle x: -12 y: -37 z: 40 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 13 y: -30 z: 300, gripper: close, black-cup x: 13 y: -30 z: 0 , green-circle x: 13 y: -30 z: 300 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* go home * from (13; -30; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 13 y: -30 z: 300, gripper: open, black-cup x: 13 y: -30 z: 0 , green-circle x: 13 y: -30 z: 0 , green-rectangle x: 19 y: -11 z: 80 , grey-rectangle x: -59 y: -18 z: 80 , red-rectangle x: 59 y: 30 z: 80 , red-triangle x: -26 y: 1 z: 40])
* go above the element to pick * from (380; 0; 620) * to (58; -29; 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: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 58 y: -29 z: 80 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* go close to it * from(58; -29; 140)* to (58; -29; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 58 y: -29 z: 140, gripper: open, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 58 y: -29 z: 80 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 58 y: -29 z: 70, gripper: open, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 58 y: -29 z: 80 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* move up * from (58; -29; 70) * to (58; -29; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 58 y: -29 z: 70, gripper: close, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 58 y: -29 z: 80 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* go above the other element * from (58; -29; 380) * to (57; -33; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 58 y: -29 z: 380, gripper: close, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 58 y: -29 z: 80 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 57 y: -33 z: 300, gripper: close, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 57 y: -33 z: 300 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* go home * from (57; -33; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: 57 y: -33 z: 300, gripper: open, black-cup x: 57 y: -33 z: 0 , green-circle x: 36 y: -57 z: 40 , green-rectangle x: 57 y: -33 z: 0 , grey-rectangle x: 20 y: -48 z: 80 , red-rectangle x: -44 y: -2 z: 80 , red-triangle x: -48 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (29; -44; 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: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: 29 y: -44 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* go close to it * from(29; -44; 140)* to (29; -44; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 29 y: -44 z: 140, gripper: open, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: 29 y: -44 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 29 y: -44 z: 70, gripper: open, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: 29 y: -44 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* move up * from (29; -44; 70) * to (29; -44; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 29 y: -44 z: 70, gripper: close, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: 29 y: -44 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* go above the other element * from (29; -44; 380) * to (-22; -19; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 29 y: -44 z: 380, gripper: close, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: 29 y: -44 z: 80 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -22 y: -19 z: 300, gripper: close, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: -22 y: -19 z: 300 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* go home * from (-22; -19; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: -22 y: -19 z: 300, gripper: open, black-cup x: -22 y: -19 z: 0 , green-circle x: 15 y: -13 z: 40 , green-rectangle x: 49 y: -10 z: 80 , grey-rectangle x: -22 y: -19 z: 0 , red-rectangle x: 23 y: -17 z: 80 , red-triangle x: 45 y: 43 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-10; -10; 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: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: -10 y: -10 z: 80 , red-triangle x: 3 y: 57 z: 40])
* go close to it * from(-10; -10; 140)* to (-10; -10; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -10 y: -10 z: 140, gripper: open, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: -10 y: -10 z: 80 , red-triangle x: 3 y: 57 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -10 y: -10 z: 70, gripper: open, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: -10 y: -10 z: 80 , red-triangle x: 3 y: 57 z: 40])
* move up * from (-10; -10; 70) * to (-10; -10; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -10 y: -10 z: 70, gripper: close, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: -10 y: -10 z: 80 , red-triangle x: 3 y: 57 z: 40])
* go above the other element * from (-10; -10; 380) * to (52; -24; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -10 y: -10 z: 380, gripper: close, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: -10 y: -10 z: 80 , red-triangle x: 3 y: 57 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 52 y: -24 z: 300, gripper: close, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: 52 y: -24 z: 300 , red-triangle x: 3 y: 57 z: 40])
* go home * from (52; -24; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 52 y: -24 z: 300, gripper: open, black-cup x: 52 y: -24 z: 0 , green-circle x: 45 y: 14 z: 40 , green-rectangle x: -39 y: 49 z: 80 , grey-rectangle x: 43 y: -48 z: 80 , red-rectangle x: 52 y: -24 z: 0 , red-triangle x: 3 y: 57 z: 40])
* go above the element to pick * from (380; 0; 620) * to (16; -17; 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: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: 16 y: -17 z: 40])
* go close to it * from(16; -17; 100)* to (16; -17; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 16 y: -17 z: 100, gripper: open, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: 16 y: -17 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 16 y: -17 z: 30, gripper: open, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: 16 y: -17 z: 40])
* move up * from (16; -17; 30) * to (16; -17; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 16 y: -17 z: 30, gripper: close, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: 16 y: -17 z: 40])
* go above the other element * from (16; -17; 340) * to (-44; -55; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 16 y: -17 z: 340, gripper: close, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: 16 y: -17 z: 40])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -44 y: -55 z: 300, gripper: close, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: -44 y: -55 z: 300])
* go home * from (-44; -55; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: -44 y: -55 z: 300, gripper: open, black-cup x: -44 y: -55 z: 0 , green-circle x: -33 y: -45 z: 40 , green-rectangle x: 14 y: 26 z: 80 , grey-rectangle x: -8 y: 19 z: 80 , red-rectangle x: -20 y: -51 z: 80 , red-triangle x: -44 y: -55 z: 0])
* go above the element to pick * from (380; 0; 620) * to (-50; -23; 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: -39 y: -27 z: 0 , green-circle x: -50 y: -23 z: 40 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* go close to it * from(-50; -23; 100)* to (-50; -23; 30)
take the green-circle and put it inside the black cup
table([ eof x: -50 y: -23 z: 100, gripper: open, black-cup x: -39 y: -27 z: 0 , green-circle x: -50 y: -23 z: 40 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -50 y: -23 z: 30, gripper: open, black-cup x: -39 y: -27 z: 0 , green-circle x: -50 y: -23 z: 40 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* move up * from (-50; -23; 30) * to (-50; -23; 340)
take the green-circle and put it inside the black cup
table([ eof x: -50 y: -23 z: 30, gripper: close, black-cup x: -39 y: -27 z: 0 , green-circle x: -50 y: -23 z: 40 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* go above the other element * from (-50; -23; 340) * to (-39; -27; 300)
take the green-circle and put it inside the black cup
table([ eof x: -50 y: -23 z: 340, gripper: close, black-cup x: -39 y: -27 z: 0 , green-circle x: -50 y: -23 z: 40 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* leave the element * open gripper
take the green-circle 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: -39 y: -27 z: 300 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* go home * from (-39; -27; 300) * to (380; 0; 620)
take the green-circle 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: -39 y: -27 z: 0 , green-rectangle x: 34 y: 4 z: 80 , grey-rectangle x: -2 y: 36 z: 80 , red-rectangle x: 52 y: 45 z: 80 , red-triangle x: -54 y: -20 z: 40])
* go above the element to pick * from (380; 0; 620) * to (0; 49; 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: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 0 y: 49 z: 80 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* go close to it * from(0; 49; 140)* to (0; 49; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 49 z: 140, gripper: open, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 0 y: 49 z: 80 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 49 z: 70, gripper: open, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 0 y: 49 z: 80 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* move up * from (0; 49; 70) * to (0; 49; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 49 z: 70, gripper: close, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 0 y: 49 z: 80 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* go above the other element * from (0; 49; 380) * to (3; -35; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 49 z: 380, gripper: close, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 0 y: 49 z: 80 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 3 y: -35 z: 300, gripper: close, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 3 y: -35 z: 300 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* go home * from (3; -35; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: 3 y: -35 z: 300, gripper: open, black-cup x: 3 y: -35 z: 0 , green-circle x: -7 y: -58 z: 40 , green-rectangle x: 3 y: -35 z: 0 , grey-rectangle x: -55 y: 52 z: 80 , red-rectangle x: 17 y: -30 z: 80 , red-triangle x: 44 y: 2 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-35; 32; 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: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: -35 y: 32 z: 80 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* go close to it * from(-35; 32; 140)* to (-35; 32; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -35 y: 32 z: 140, gripper: open, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: -35 y: 32 z: 80 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -35 y: 32 z: 70, gripper: open, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: -35 y: 32 z: 80 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* move up * from (-35; 32; 70) * to (-35; 32; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -35 y: 32 z: 70, gripper: close, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: -35 y: 32 z: 80 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* go above the other element * from (-35; 32; 380) * to (15; 39; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -35 y: 32 z: 380, gripper: close, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: -35 y: 32 z: 80 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 15 y: 39 z: 300, gripper: close, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: 15 y: 39 z: 300 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* go home * from (15; 39; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 15 y: 39 z: 300, gripper: open, black-cup x: 15 y: 39 z: 0 , green-circle x: 40 y: 47 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: 15 y: 39 z: 0 , red-rectangle x: -25 y: 23 z: 80 , red-triangle x: -10 y: 58 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-46; -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: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -46 y: -52 z: 80 , red-triangle x: -8 y: 33 z: 40])
* go close to it * from(-46; -52; 140)* to (-46; -52; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -46 y: -52 z: 140, gripper: open, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -46 y: -52 z: 80 , red-triangle x: -8 y: 33 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -46 y: -52 z: 70, gripper: open, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -46 y: -52 z: 80 , red-triangle x: -8 y: 33 z: 40])
* move up * from (-46; -52; 70) * to (-46; -52; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -46 y: -52 z: 70, gripper: close, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -46 y: -52 z: 80 , red-triangle x: -8 y: 33 z: 40])
* go above the other element * from (-46; -52; 380) * to (-36; 18; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -46 y: -52 z: 380, gripper: close, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -46 y: -52 z: 80 , red-triangle x: -8 y: 33 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: 18 z: 300, gripper: close, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -36 y: 18 z: 300 , red-triangle x: -8 y: 33 z: 40])
* go home * from (-36; 18; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: -36 y: 18 z: 300, gripper: open, black-cup x: -36 y: 18 z: 0 , green-circle x: 16 y: 13 z: 40 , green-rectangle x: -55 y: 36 z: 80 , grey-rectangle x: 15 y: 32 z: 80 , red-rectangle x: -36 y: 18 z: 0 , red-triangle x: -8 y: 33 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-18; -22; 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: -10 y: -39 z: 0 , green-circle x: 20 y: 10 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: 24 y: 27 z: 80 , red-rectangle x: -32 y: 6 z: 80 , red-triangle x: -18 y: -22 z: 40])
* go close to it * from(-18; -22; 100)* to (-18; -22; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -18 y: -22 z: 100, gripper: open, black-cup x: -10 y: -39 z: 0 , green-circle x: 20 y: 10 z: 40 , green-rectangle x: 21 y: -27 z: 80 , grey-rectangle x: 24 y: 27 z: 80 , red-rectangle x: -32 y: 6 z: 80 , red-triangle x: -18 y: -22 z: 40])