Datasets:
marcomaccarini
/
ds_robot_21

Dataset card Data Studio Files
xet
Community
2
context
stringlengths
238
262
answer
stringlengths
27
73
question
stringclasses
5 values
table([ eof x: -21 y: -26 z: 300, gripper: open, black-cup x: -21 y: -26 z: 0 , green-circle x: 44 y: -34 z: 40 , green-rectangle x: -3 y: -17 z: 80 , grey-rectangle x: -21 y: -26 z: 0 , red-rectangle x: -32 y: 20 z: 80 , red-triangle x: 27 y: -22 z: 40])
* go home * from (-21; -26; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 58 y: 37 z: 80 , red-triangle x: 18 y: -32 z: 40])
* go above the element to pick * from (380; 0; 620) * to (58; 37; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 58 y: 37 z: 140, gripper: open, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 58 y: 37 z: 80 , red-triangle x: 18 y: -32 z: 40])
* go close to it * from(58; 37; 140)* to (58; 37; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 58 y: 37 z: 70, gripper: open, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 58 y: 37 z: 80 , red-triangle x: 18 y: -32 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 58 y: 37 z: 70, gripper: close, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 58 y: 37 z: 80 , red-triangle x: 18 y: -32 z: 40])
* move up * from (58; 37; 70) * to (58; 37; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 58 y: 37 z: 380, gripper: close, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 58 y: 37 z: 380 , red-triangle x: 18 y: -32 z: 40])
* go above the other element * from (58; 37; 680) * to (15; 24; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 15 y: 24 z: 300, gripper: close, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 15 y: 24 z: 300 , red-triangle x: 18 y: -32 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 15 y: 24 z: 300, gripper: open, black-cup x: 15 y: 24 z: 0 , green-circle x: 43 y: 50 z: 40 , green-rectangle x: 15 y: -49 z: 80 , grey-rectangle x: 59 y: -29 z: 80 , red-rectangle x: 15 y: 24 z: 0 , red-triangle x: 18 y: -32 z: 40])
* go home * from (15; 24; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: -48 y: 34 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-48; 34; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -48 y: 34 z: 100, gripper: open, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: -48 y: 34 z: 40])
* go close to it * from(-48; 34; 100)* to (-48; 34; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -48 y: 34 z: 30, gripper: open, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: -48 y: 34 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -48 y: 34 z: 30, gripper: close, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: -48 y: 34 z: 40])
* move up * from (-48; 34; 30) * to (-48; 34; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -48 y: 34 z: 340, gripper: close, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: -48 y: 34 z: 340])
* go above the other element * from (-48; 34; 640) * to (13; -46; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 13 y: -46 z: 300, gripper: close, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: 13 y: -46 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 13 y: -46 z: 300, gripper: open, black-cup x: 13 y: -46 z: 0 , green-circle x: -41 y: 57 z: 40 , green-rectangle x: -26 y: 54 z: 80 , grey-rectangle x: 22 y: 18 z: 80 , red-rectangle x: -2 y: 39 z: 80 , red-triangle x: 13 y: -46 z: 0])
* go home * from (13; -46; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 39 y: -9 z: 0 , green-circle x: 2 y: 31 z: 40 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* go above the element to pick * from (380; 0; 620) * to (2; 31; 100)
take the green-circle and put it inside the black cup
table([ eof x: 2 y: 31 z: 100, gripper: open, black-cup x: 39 y: -9 z: 0 , green-circle x: 2 y: 31 z: 40 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* go close to it * from(2; 31; 100)* to (2; 31; 30)
take the green-circle and put it inside the black cup
table([ eof x: 2 y: 31 z: 30, gripper: open, black-cup x: 39 y: -9 z: 0 , green-circle x: 2 y: 31 z: 40 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 2 y: 31 z: 30, gripper: close, black-cup x: 39 y: -9 z: 0 , green-circle x: 2 y: 31 z: 40 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* move up * from (2; 31; 30) * to (2; 31; 340)
take the green-circle and put it inside the black cup
table([ eof x: 2 y: 31 z: 340, gripper: close, black-cup x: 39 y: -9 z: 0 , green-circle x: 2 y: 31 z: 340 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* go above the other element * from (2; 31; 640) * to (39; -9; 300)
take the green-circle and put it inside the black cup
table([ eof x: 39 y: -9 z: 300, gripper: close, black-cup x: 39 y: -9 z: 0 , green-circle x: 39 y: -9 z: 300 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 39 y: -9 z: 300, gripper: open, black-cup x: 39 y: -9 z: 0 , green-circle x: 39 y: -9 z: 0 , green-rectangle x: 32 y: 1 z: 80 , grey-rectangle x: 38 y: 35 z: 80 , red-rectangle x: 2 y: -11 z: 80 , red-triangle x: 33 y: 17 z: 40])
* go home * from (39; -9; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: -5 y: -49 z: 80 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-5; -49; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -5 y: -49 z: 140, gripper: open, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: -5 y: -49 z: 80 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* go close to it * from(-5; -49; 140)* to (-5; -49; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -5 y: -49 z: 70, gripper: open, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: -5 y: -49 z: 80 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -5 y: -49 z: 70, gripper: close, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: -5 y: -49 z: 80 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* move up * from (-5; -49; 70) * to (-5; -49; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -5 y: -49 z: 380, gripper: close, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: -5 y: -49 z: 380 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* go above the other element * from (-5; -49; 680) * to (46; -51; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 46 y: -51 z: 300, gripper: close, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: 46 y: -51 z: 300 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 46 y: -51 z: 300, gripper: open, black-cup x: 46 y: -51 z: 0 , green-circle x: 21 y: 10 z: 40 , green-rectangle x: 46 y: -51 z: 0 , grey-rectangle x: -14 y: 48 z: 80 , red-rectangle x: -42 y: 43 z: 80 , red-triangle x: 40 y: -30 z: 40])
* go home * from (46; -51; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: 5 y: -43 z: 80 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* go above the element to pick * from (380; 0; 620) * to (5; -43; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: -43 z: 140, gripper: open, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: 5 y: -43 z: 80 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* go close to it * from(5; -43; 140)* to (5; -43; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: -43 z: 70, gripper: open, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: 5 y: -43 z: 80 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: -43 z: 70, gripper: close, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: 5 y: -43 z: 80 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* move up * from (5; -43; 70) * to (5; -43; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: -43 z: 380, gripper: close, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: 5 y: -43 z: 380 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* go above the other element * from (5; -43; 680) * to (-6; 15; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -6 y: 15 z: 300, gripper: close, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: -6 y: 15 z: 300 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -6 y: 15 z: 300, gripper: open, black-cup x: -6 y: 15 z: 0 , green-circle x: -21 y: -1 z: 40 , green-rectangle x: -39 y: -18 z: 80 , grey-rectangle x: -6 y: 15 z: 0 , red-rectangle x: -45 y: 52 z: 80 , red-triangle x: -41 y: 36 z: 40])
* go home * from (-6; 15; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: 50 y: -36 z: 80 , red-triangle x: -16 y: 33 z: 40])
* go above the element to pick * from (380; 0; 620) * to (50; -36; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: -36 z: 140, gripper: open, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: 50 y: -36 z: 80 , red-triangle x: -16 y: 33 z: 40])
* go close to it * from(50; -36; 140)* to (50; -36; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: -36 z: 70, gripper: open, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: 50 y: -36 z: 80 , red-triangle x: -16 y: 33 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: -36 z: 70, gripper: close, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: 50 y: -36 z: 80 , red-triangle x: -16 y: 33 z: 40])
* move up * from (50; -36; 70) * to (50; -36; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: -36 z: 380, gripper: close, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: 50 y: -36 z: 380 , red-triangle x: -16 y: 33 z: 40])
* go above the other element * from (50; -36; 680) * to (-1; -14; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -1 y: -14 z: 300, gripper: close, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: -1 y: -14 z: 300 , red-triangle x: -16 y: 33 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -1 y: -14 z: 300, gripper: open, black-cup x: -1 y: -14 z: 0 , green-circle x: -58 y: 48 z: 40 , green-rectangle x: -16 y: -4 z: 80 , grey-rectangle x: 38 y: 15 z: 80 , red-rectangle x: -1 y: -14 z: 0 , red-triangle x: -16 y: 33 z: 40])
* go home * from (-1; -14; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: -43 y: -42 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-43; -42; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -42 z: 100, gripper: open, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: -43 y: -42 z: 40])
* go close to it * from(-43; -42; 100)* to (-43; -42; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -42 z: 30, gripper: open, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: -43 y: -42 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -42 z: 30, gripper: close, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: -43 y: -42 z: 40])
* move up * from (-43; -42; 30) * to (-43; -42; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -42 z: 340, gripper: close, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: -43 y: -42 z: 340])
* go above the other element * from (-43; -42; 640) * to (52; -28; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 52 y: -28 z: 300, gripper: close, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: 52 y: -28 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 52 y: -28 z: 300, gripper: open, black-cup x: 52 y: -28 z: 0 , green-circle x: -49 y: 6 z: 40 , green-rectangle x: 55 y: 42 z: 80 , grey-rectangle x: 46 y: 54 z: 80 , red-rectangle x: 30 y: -38 z: 80 , red-triangle x: 52 y: -28 z: 0])
* go home * from (52; -28; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -20 y: 18 z: 0 , green-circle x: 49 y: 2 z: 40 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* go above the element to pick * from (380; 0; 620) * to (49; 2; 100)
take the green-circle and put it inside the black cup
table([ eof x: 49 y: 2 z: 100, gripper: open, black-cup x: -20 y: 18 z: 0 , green-circle x: 49 y: 2 z: 40 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* go close to it * from(49; 2; 100)* to (49; 2; 30)
take the green-circle and put it inside the black cup
table([ eof x: 49 y: 2 z: 30, gripper: open, black-cup x: -20 y: 18 z: 0 , green-circle x: 49 y: 2 z: 40 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 49 y: 2 z: 30, gripper: close, black-cup x: -20 y: 18 z: 0 , green-circle x: 49 y: 2 z: 40 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* move up * from (49; 2; 30) * to (49; 2; 340)
take the green-circle and put it inside the black cup
table([ eof x: 49 y: 2 z: 340, gripper: close, black-cup x: -20 y: 18 z: 0 , green-circle x: 49 y: 2 z: 340 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* go above the other element * from (49; 2; 640) * to (-20; 18; 300)
take the green-circle and put it inside the black cup
table([ eof x: -20 y: 18 z: 300, gripper: close, black-cup x: -20 y: 18 z: 0 , green-circle x: -20 y: 18 z: 300 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -20 y: 18 z: 300, gripper: open, black-cup x: -20 y: 18 z: 0 , green-circle x: -20 y: 18 z: 0 , green-rectangle x: -50 y: 46 z: 80 , grey-rectangle x: -29 y: 47 z: 80 , red-rectangle x: 19 y: -4 z: 80 , red-triangle x: -32 y: 41 z: 40])
* go home * from (-20; 18; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: 35 y: -38 z: 80 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (35; -38; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: -38 z: 140, gripper: open, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: 35 y: -38 z: 80 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* go close to it * from(35; -38; 140)* to (35; -38; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: -38 z: 70, gripper: open, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: 35 y: -38 z: 80 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: -38 z: 70, gripper: close, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: 35 y: -38 z: 80 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* move up * from (35; -38; 70) * to (35; -38; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: -38 z: 380, gripper: close, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: 35 y: -38 z: 380 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* go above the other element * from (35; -38; 680) * to (-19; 39; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -19 y: 39 z: 300, gripper: close, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: -19 y: 39 z: 300 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -19 y: 39 z: 300, gripper: open, black-cup x: -19 y: 39 z: 0 , green-circle x: 19 y: 13 z: 40 , green-rectangle x: -19 y: 39 z: 0 , grey-rectangle x: 30 y: -18 z: 80 , red-rectangle x: 54 y: -51 z: 80 , red-triangle x: -20 y: -7 z: 40])
* go home * from (-19; 39; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 22 y: 28 z: 80 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* go above the element to pick * from (380; 0; 620) * to (22; 28; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 28 z: 140, gripper: open, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 22 y: 28 z: 80 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* go close to it * from(22; 28; 140)* to (22; 28; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 28 z: 70, gripper: open, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 22 y: 28 z: 80 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 28 z: 70, gripper: close, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 22 y: 28 z: 80 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* move up * from (22; 28; 70) * to (22; 28; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 22 y: 28 z: 380, gripper: close, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 22 y: 28 z: 380 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* go above the other element * from (22; 28; 680) * to (10; -23; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 10 y: -23 z: 300, gripper: close, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 10 y: -23 z: 300 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 10 y: -23 z: 300, gripper: open, black-cup x: 10 y: -23 z: 0 , green-circle x: 53 y: -19 z: 40 , green-rectangle x: 24 y: -59 z: 80 , grey-rectangle x: 10 y: -23 z: 0 , red-rectangle x: 6 y: -52 z: 80 , red-triangle x: -22 y: -40 z: 40])
* go home * from (10; -23; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 20 y: 51 z: 40])
* go above the element to pick * from (380; 0; 620) * to (9; -18; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -18 z: 140, gripper: open, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 20 y: 51 z: 40])
* go close to it * from(9; -18; 140)* to (9; -18; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -18 z: 70, gripper: open, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 20 y: 51 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -18 z: 70, gripper: close, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: 9 y: -18 z: 80 , red-triangle x: 20 y: 51 z: 40])
* move up * from (9; -18; 70) * to (9; -18; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -18 z: 380, gripper: close, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: 9 y: -18 z: 380 , red-triangle x: 20 y: 51 z: 40])
* go above the other element * from (9; -18; 680) * to (-4; -46; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -4 y: -46 z: 300, gripper: close, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: -4 y: -46 z: 300 , red-triangle x: 20 y: 51 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -4 y: -46 z: 300, gripper: open, black-cup x: -4 y: -46 z: 0 , green-circle x: 31 y: -29 z: 40 , green-rectangle x: 53 y: -7 z: 80 , grey-rectangle x: -20 y: 10 z: 80 , red-rectangle x: -4 y: -46 z: 0 , red-triangle x: 20 y: 51 z: 40])
* go home * from (-4; -46; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -33 y: -22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-33; -22; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -22 z: 100, gripper: open, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -33 y: -22 z: 40])
* go close to it * from(-33; -22; 100)* to (-33; -22; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -22 z: 30, gripper: open, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -33 y: -22 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -22 z: 30, gripper: close, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -33 y: -22 z: 40])
* move up * from (-33; -22; 30) * to (-33; -22; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -22 z: 340, gripper: close, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -33 y: -22 z: 340])
* go above the other element * from (-33; -22; 640) * to (-29; -11; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -29 y: -11 z: 300, gripper: close, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -29 y: -11 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -29 y: -11 z: 300, gripper: open, black-cup x: -29 y: -11 z: 0 , green-circle x: -23 y: -12 z: 40 , green-rectangle x: 29 y: 8 z: 80 , grey-rectangle x: 37 y: -38 z: 80 , red-rectangle x: -43 y: 6 z: 80 , red-triangle x: -29 y: -11 z: 0])
* go home * from (-29; -11; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -47 y: -30 z: 0 , green-circle x: 14 y: -47 z: 40 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* go above the element to pick * from (380; 0; 620) * to (14; -47; 100)
take the green-circle and put it inside the black cup
table([ eof x: 14 y: -47 z: 100, gripper: open, black-cup x: -47 y: -30 z: 0 , green-circle x: 14 y: -47 z: 40 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* go close to it * from(14; -47; 100)* to (14; -47; 30)
take the green-circle and put it inside the black cup
table([ eof x: 14 y: -47 z: 30, gripper: open, black-cup x: -47 y: -30 z: 0 , green-circle x: 14 y: -47 z: 40 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 14 y: -47 z: 30, gripper: close, black-cup x: -47 y: -30 z: 0 , green-circle x: 14 y: -47 z: 40 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* move up * from (14; -47; 30) * to (14; -47; 340)
take the green-circle and put it inside the black cup
table([ eof x: 14 y: -47 z: 340, gripper: close, black-cup x: -47 y: -30 z: 0 , green-circle x: 14 y: -47 z: 340 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* go above the other element * from (14; -47; 640) * to (-47; -30; 300)
take the green-circle and put it inside the black cup
table([ eof x: -47 y: -30 z: 300, gripper: close, black-cup x: -47 y: -30 z: 0 , green-circle x: -47 y: -30 z: 300 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -47 y: -30 z: 300, gripper: open, black-cup x: -47 y: -30 z: 0 , green-circle x: -47 y: -30 z: 0 , green-rectangle x: -35 y: 38 z: 80 , grey-rectangle x: 17 y: -56 z: 80 , red-rectangle x: 47 y: 45 z: 80 , red-triangle x: 47 y: -50 z: 40])
* go home * from (-47; -30; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* go above the element to pick * from (380; 0; 620) * to (28; 21; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 28 y: 21 z: 140, gripper: open, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* go close to it * from(28; 21; 140)* to (28; 21; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 28 y: 21 z: 70, gripper: open, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 28 y: 21 z: 70, gripper: close, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* move up * from (28; 21; 70) * to (28; 21; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 28 y: 21 z: 380, gripper: close, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 28 y: 21 z: 380 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* go above the other element * from (28; 21; 680) * to (0; -2; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: -2 z: 300, gripper: close, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 0 y: -2 z: 300 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: -2 z: 300, gripper: open, black-cup x: 0 y: -2 z: 0 , green-circle x: -9 y: -59 z: 40 , green-rectangle x: 0 y: -2 z: 0 , grey-rectangle x: -37 y: -22 z: 80 , red-rectangle x: 37 y: -54 z: 80 , red-triangle x: -32 y: 9 z: 40])
* go home * from (0; -2; 300) * to (380; 0; 620)
take the green-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -30 y: -57 z: 0 , green-circle x: -31 y: 55 z: 40 , green-rectangle x: -19 y: -18 z: 80 , grey-rectangle x: 19 y: 26 z: 80 , red-rectangle x: 5 y: -36 z: 80 , red-triangle x: 37 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (19; 26; 140)
take the grey-rectangle and put it inside the black cup