; Time 0.05
; ParsingTime
; NrActions
; MakeSpan 19
; TotalCost 
; MetricValue
; PlanningTechnique
0: (initialize-arm) [1]
1: (move-arm-to-reference-position pt-random rot-random pt-ref rot-ref) [1]
2: (close-gripper pt-ref rot-ref) [1]
3: (initialize-sam pt-ref rot-ref) [1]
4: (load-maps) [1]
5: (initialize-object-selection) [1]
6: (open-gripper) [1]
7: (position-arm-for-grasping pt-ref rot-ref kitchen pt-kitchen rot-kitchen) [1]
8: (wait-for-object-designation coca-can kitchen pt-kitchen rot-kitchen) [1]
9: (move-towards-object pt-kitchen rot-kitchen coca-can pt-coca-approach rot-coca-approach) [1]
10: (avoid-obstacle-before-object1 pt-coca-approach rot-coca-approach coca-can kitchen pt-coca-ontology1 rot-coca-ontology1) [1]
11: (avoid-obstacle-before-object2 pt-coca-ontology1 rot-coca-ontology1 coca-can pt-coca-ontology2 rot-coca-ontology2) [1]
12: (blind-grasp pt-coca-ontology2 rot-coca-ontology2 coca-can pt-coca-barrier rot-coca-barrier) [1]
13: (close-gripper-on-object coca-can kitchen pt-coca-barrier rot-coca-barrier) [1]
14: (move-arm-to-safe-position coca-can pt-coca-barrier rot-coca-barrier pt-safe rot-safe) [1]
15: (move-arm-to-transport-position pt-safe rot-safe pt-transport rot-transport) [1]
16: (initialize-dropping coca-can pt-transport rot-transport) [1]
17: (move-arm-to-deliver-position pt-transport rot-transport coca-can pt-deliver rot-deliver) [1]
18: (open-gripper-with-object coca-can pt-deliver rot-deliver) [1]