Datasets:
marcomaccarini
/
ds_robot_21

Dataset card Data Studio Files
xet
Community
2
context
stringlengths
238
262
answer
stringlengths
27
73
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stringclasses
5 values
table([ eof x: 51 y: -53 z: 300, gripper: close, black-cup x: 51 y: -53 z: 0 , green-circle x: 51 y: -53 z: 300 , green-rectangle x: -8 y: -53 z: 80 , grey-rectangle x: 17 y: 35 z: 80 , red-rectangle x: 33 y: -23 z: 80 , red-triangle x: -56 y: 15 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 51 y: -53 z: 300, gripper: open, black-cup x: 51 y: -53 z: 0 , green-circle x: 51 y: -53 z: 0 , green-rectangle x: -8 y: -53 z: 80 , grey-rectangle x: 17 y: 35 z: 80 , red-rectangle x: 33 y: -23 z: 80 , red-triangle x: -56 y: 15 z: 40])
* go home * from (51; -53; 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: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: -26 y: -7 z: 80 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-26; -7; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -26 y: -7 z: 140, gripper: open, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: -26 y: -7 z: 80 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* go close to it * from(-26; -7; 140)* to (-26; -7; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -26 y: -7 z: 70, gripper: open, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: -26 y: -7 z: 80 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -26 y: -7 z: 70, gripper: close, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: -26 y: -7 z: 80 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* move up * from (-26; -7; 70) * to (-26; -7; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -26 y: -7 z: 380, gripper: close, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: -26 y: -7 z: 380 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* go above the other element * from (-26; -7; 680) * to (56; 40; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 56 y: 40 z: 300, gripper: close, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: 56 y: 40 z: 300 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 56 y: 40 z: 300, gripper: open, black-cup x: 56 y: 40 z: 0 , green-circle x: -15 y: 12 z: 40 , green-rectangle x: 56 y: 40 z: 0 , grey-rectangle x: -27 y: -2 z: 80 , red-rectangle x: -4 y: -45 z: 80 , red-triangle x: -22 y: 22 z: 40])
* go home * from (56; 40; 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: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -21 y: 52 z: 80 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-21; 52; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -21 y: 52 z: 140, gripper: open, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -21 y: 52 z: 80 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* go close to it * from(-21; 52; 140)* to (-21; 52; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -21 y: 52 z: 70, gripper: open, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -21 y: 52 z: 80 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -21 y: 52 z: 70, gripper: close, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -21 y: 52 z: 80 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* move up * from (-21; 52; 70) * to (-21; 52; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -21 y: 52 z: 380, gripper: close, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -21 y: 52 z: 380 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* go above the other element * from (-21; 52; 680) * to (-28; 28; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -28 y: 28 z: 300, gripper: close, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -28 y: 28 z: 300 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -28 y: 28 z: 300, gripper: open, black-cup x: -28 y: 28 z: 0 , green-circle x: -1 y: 50 z: 40 , green-rectangle x: -1 y: -36 z: 80 , grey-rectangle x: -28 y: 28 z: 0 , red-rectangle x: 40 y: -16 z: 80 , red-triangle x: -24 y: -25 z: 40])
* go home * from (-28; 28; 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: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: -9 y: -58 z: 80 , red-triangle x: -58 y: 11 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-9; -58; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -9 y: -58 z: 140, gripper: open, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: -9 y: -58 z: 80 , red-triangle x: -58 y: 11 z: 40])
* go close to it * from(-9; -58; 140)* to (-9; -58; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -9 y: -58 z: 70, gripper: open, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: -9 y: -58 z: 80 , red-triangle x: -58 y: 11 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -9 y: -58 z: 70, gripper: close, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: -9 y: -58 z: 80 , red-triangle x: -58 y: 11 z: 40])
* move up * from (-9; -58; 70) * to (-9; -58; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -9 y: -58 z: 380, gripper: close, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: -9 y: -58 z: 380 , red-triangle x: -58 y: 11 z: 40])
* go above the other element * from (-9; -58; 680) * to (46; -49; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 46 y: -49 z: 300, gripper: close, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: 46 y: -49 z: 300 , red-triangle x: -58 y: 11 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 46 y: -49 z: 300, gripper: open, black-cup x: 46 y: -49 z: 0 , green-circle x: -31 y: 58 z: 40 , green-rectangle x: -31 y: 42 z: 80 , grey-rectangle x: -36 y: -10 z: 80 , red-rectangle x: 46 y: -49 z: 0 , red-triangle x: -58 y: 11 z: 40])
* go home * from (46; -49; 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: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: -25 y: 49 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-25; 49; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -25 y: 49 z: 100, gripper: open, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: -25 y: 49 z: 40])
* go close to it * from(-25; 49; 100)* to (-25; 49; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -25 y: 49 z: 30, gripper: open, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: -25 y: 49 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -25 y: 49 z: 30, gripper: close, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: -25 y: 49 z: 40])
* move up * from (-25; 49; 30) * to (-25; 49; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -25 y: 49 z: 340, gripper: close, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: -25 y: 49 z: 340])
* go above the other element * from (-25; 49; 640) * to (0; 7; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 0 y: 7 z: 300, gripper: close, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: 0 y: 7 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 0 y: 7 z: 300, gripper: open, black-cup x: 0 y: 7 z: 0 , green-circle x: -17 y: -32 z: 40 , green-rectangle x: -7 y: -58 z: 80 , grey-rectangle x: -3 y: -1 z: 80 , red-rectangle x: -37 y: 52 z: 80 , red-triangle x: 0 y: 7 z: 0])
* go home * from (0; 7; 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: 59 y: 56 z: 0 , green-circle x: 13 y: 19 z: 40 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* go above the element to pick * from (380; 0; 620) * to (13; 19; 100)
take the green-circle and put it inside the black cup
table([ eof x: 13 y: 19 z: 100, gripper: open, black-cup x: 59 y: 56 z: 0 , green-circle x: 13 y: 19 z: 40 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* go close to it * from(13; 19; 100)* to (13; 19; 30)
take the green-circle and put it inside the black cup
table([ eof x: 13 y: 19 z: 30, gripper: open, black-cup x: 59 y: 56 z: 0 , green-circle x: 13 y: 19 z: 40 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 13 y: 19 z: 30, gripper: close, black-cup x: 59 y: 56 z: 0 , green-circle x: 13 y: 19 z: 40 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* move up * from (13; 19; 30) * to (13; 19; 340)
take the green-circle and put it inside the black cup
table([ eof x: 13 y: 19 z: 340, gripper: close, black-cup x: 59 y: 56 z: 0 , green-circle x: 13 y: 19 z: 340 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* go above the other element * from (13; 19; 640) * to (59; 56; 300)
take the green-circle and put it inside the black cup
table([ eof x: 59 y: 56 z: 300, gripper: close, black-cup x: 59 y: 56 z: 0 , green-circle x: 59 y: 56 z: 300 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 59 y: 56 z: 300, gripper: open, black-cup x: 59 y: 56 z: 0 , green-circle x: 59 y: 56 z: 0 , green-rectangle x: -46 y: 34 z: 80 , grey-rectangle x: -12 y: -24 z: 80 , red-rectangle x: -34 y: 36 z: 80 , red-triangle x: 11 y: -57 z: 40])
* go home * from (59; 56; 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: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -18 z: 80 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (59; -18; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -18 z: 140, gripper: open, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -18 z: 80 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* go close to it * from(59; -18; 140)* to (59; -18; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -18 z: 70, gripper: open, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -18 z: 80 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -18 z: 70, gripper: close, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -18 z: 80 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* move up * from (59; -18; 70) * to (59; -18; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -18 z: 380, gripper: close, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -18 z: 380 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* go above the other element * from (59; -18; 680) * to (59; -43; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -43 z: 300, gripper: close, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -43 z: 300 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 59 y: -43 z: 300, gripper: open, black-cup x: 59 y: -43 z: 0 , green-circle x: -50 y: -56 z: 40 , green-rectangle x: 59 y: -43 z: 0 , grey-rectangle x: -5 y: -8 z: 80 , red-rectangle x: -28 y: -5 z: 80 , red-triangle x: -40 y: 0 z: 40])
* go home * from (59; -43; 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: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 11 y: -31 z: 80 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* go above the element to pick * from (380; 0; 620) * to (11; -31; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 11 y: -31 z: 140, gripper: open, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 11 y: -31 z: 80 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* go close to it * from(11; -31; 140)* to (11; -31; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 11 y: -31 z: 70, gripper: open, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 11 y: -31 z: 80 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 11 y: -31 z: 70, gripper: close, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 11 y: -31 z: 80 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* move up * from (11; -31; 70) * to (11; -31; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 11 y: -31 z: 380, gripper: close, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 11 y: -31 z: 380 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* go above the other element * from (11; -31; 680) * to (36; 57; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 36 y: 57 z: 300, gripper: close, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 36 y: 57 z: 300 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 36 y: 57 z: 300, gripper: open, black-cup x: 36 y: 57 z: 0 , green-circle x: 7 y: 42 z: 40 , green-rectangle x: 22 y: -11 z: 80 , grey-rectangle x: 36 y: 57 z: 0 , red-rectangle x: -15 y: -26 z: 80 , red-triangle x: -33 y: -29 z: 40])
* go home * from (36; 57; 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: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: 59 y: -39 z: 80 , red-triangle x: 4 y: -14 z: 40])
* go above the element to pick * from (380; 0; 620) * to (59; -39; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 59 y: -39 z: 140, gripper: open, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: 59 y: -39 z: 80 , red-triangle x: 4 y: -14 z: 40])
* go close to it * from(59; -39; 140)* to (59; -39; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 59 y: -39 z: 70, gripper: open, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: 59 y: -39 z: 80 , red-triangle x: 4 y: -14 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 59 y: -39 z: 70, gripper: close, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: 59 y: -39 z: 80 , red-triangle x: 4 y: -14 z: 40])
* move up * from (59; -39; 70) * to (59; -39; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 59 y: -39 z: 380, gripper: close, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: 59 y: -39 z: 380 , red-triangle x: 4 y: -14 z: 40])
* go above the other element * from (59; -39; 680) * to (-24; -39; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -24 y: -39 z: 300, gripper: close, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: -24 y: -39 z: 300 , red-triangle x: 4 y: -14 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -24 y: -39 z: 300, gripper: open, black-cup x: -24 y: -39 z: 0 , green-circle x: -27 y: -44 z: 40 , green-rectangle x: -55 y: -4 z: 80 , grey-rectangle x: 16 y: 6 z: 80 , red-rectangle x: -24 y: -39 z: 0 , red-triangle x: 4 y: -14 z: 40])
* go home * from (-24; -39; 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: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -39 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-39; 22; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -39 y: 22 z: 100, gripper: open, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -39 y: 22 z: 40])
* go close to it * from(-39; 22; 100)* to (-39; 22; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -39 y: 22 z: 30, gripper: open, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -39 y: 22 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -39 y: 22 z: 30, gripper: close, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -39 y: 22 z: 40])
* move up * from (-39; 22; 30) * to (-39; 22; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -39 y: 22 z: 340, gripper: close, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -39 y: 22 z: 340])
* go above the other element * from (-39; 22; 640) * to (-40; -11; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -40 y: -11 z: 300, gripper: close, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -40 y: -11 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -40 y: -11 z: 300, gripper: open, black-cup x: -40 y: -11 z: 0 , green-circle x: -22 y: -38 z: 40 , green-rectangle x: 55 y: 59 z: 80 , grey-rectangle x: -35 y: 28 z: 80 , red-rectangle x: 24 y: -51 z: 80 , red-triangle x: -40 y: -11 z: 0])
* go home * from (-40; -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: 30 y: 35 z: 0 , green-circle x: -45 y: 23 z: 40 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-45; 23; 100)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 23 z: 100, gripper: open, black-cup x: 30 y: 35 z: 0 , green-circle x: -45 y: 23 z: 40 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* go close to it * from(-45; 23; 100)* to (-45; 23; 30)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 23 z: 30, gripper: open, black-cup x: 30 y: 35 z: 0 , green-circle x: -45 y: 23 z: 40 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 23 z: 30, gripper: close, black-cup x: 30 y: 35 z: 0 , green-circle x: -45 y: 23 z: 40 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* move up * from (-45; 23; 30) * to (-45; 23; 340)
take the green-circle and put it inside the black cup
table([ eof x: -45 y: 23 z: 340, gripper: close, black-cup x: 30 y: 35 z: 0 , green-circle x: -45 y: 23 z: 340 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* go above the other element * from (-45; 23; 640) * to (30; 35; 300)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: 35 z: 300, gripper: close, black-cup x: 30 y: 35 z: 0 , green-circle x: 30 y: 35 z: 300 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 30 y: 35 z: 300, gripper: open, black-cup x: 30 y: 35 z: 0 , green-circle x: 30 y: 35 z: 0 , green-rectangle x: 53 y: 57 z: 80 , grey-rectangle x: -20 y: -16 z: 80 , red-rectangle x: -52 y: 45 z: 80 , red-triangle x: -55 y: 46 z: 40])
* go home * from (30; 35; 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: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: 20 y: 43 z: 80 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* go above the element to pick * from (380; 0; 620) * to (20; 43; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 20 y: 43 z: 140, gripper: open, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: 20 y: 43 z: 80 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* go close to it * from(20; 43; 140)* to (20; 43; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 20 y: 43 z: 70, gripper: open, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: 20 y: 43 z: 80 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 20 y: 43 z: 70, gripper: close, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: 20 y: 43 z: 80 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* move up * from (20; 43; 70) * to (20; 43; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 20 y: 43 z: 380, gripper: close, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: 20 y: 43 z: 380 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* go above the other element * from (20; 43; 680) * to (-52; -8; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -52 y: -8 z: 300, gripper: close, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: -52 y: -8 z: 300 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -52 y: -8 z: 300, gripper: open, black-cup x: -52 y: -8 z: 0 , green-circle x: -29 y: 27 z: 40 , green-rectangle x: -52 y: -8 z: 0 , grey-rectangle x: -23 y: 59 z: 80 , red-rectangle x: 58 y: 15 z: 80 , red-triangle x: 56 y: -17 z: 40])
* go home * from (-52; -8; 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: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 18 y: 27 z: 80 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* go above the element to pick * from (380; 0; 620) * to (18; 27; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 18 y: 27 z: 140, gripper: open, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 18 y: 27 z: 80 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* go close to it * from(18; 27; 140)* to (18; 27; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 18 y: 27 z: 70, gripper: open, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 18 y: 27 z: 80 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 18 y: 27 z: 70, gripper: close, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 18 y: 27 z: 80 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* move up * from (18; 27; 70) * to (18; 27; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 18 y: 27 z: 380, gripper: close, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 18 y: 27 z: 380 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* go above the other element * from (18; 27; 680) * to (5; 11; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: 11 z: 300, gripper: close, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 5 y: 11 z: 300 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 5 y: 11 z: 300, gripper: open, black-cup x: 5 y: 11 z: 0 , green-circle x: -37 y: 8 z: 40 , green-rectangle x: -22 y: -40 z: 80 , grey-rectangle x: 5 y: 11 z: 0 , red-rectangle x: -17 y: 35 z: 80 , red-triangle x: 58 y: -8 z: 40])
* go home * from (5; 11; 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: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 47 y: 21 z: 80 , red-triangle x: -29 y: 39 z: 40])
* go above the element to pick * from (380; 0; 620) * to (47; 21; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 47 y: 21 z: 140, gripper: open, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 47 y: 21 z: 80 , red-triangle x: -29 y: 39 z: 40])
* go close to it * from(47; 21; 140)* to (47; 21; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 47 y: 21 z: 70, gripper: open, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 47 y: 21 z: 80 , red-triangle x: -29 y: 39 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 47 y: 21 z: 70, gripper: close, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 47 y: 21 z: 80 , red-triangle x: -29 y: 39 z: 40])
* move up * from (47; 21; 70) * to (47; 21; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 47 y: 21 z: 380, gripper: close, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 47 y: 21 z: 380 , red-triangle x: -29 y: 39 z: 40])
* go above the other element * from (47; 21; 680) * to (38; 22; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: 22 z: 300, gripper: close, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 38 y: 22 z: 300 , red-triangle x: -29 y: 39 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: 22 z: 300, gripper: open, black-cup x: 38 y: 22 z: 0 , green-circle x: 2 y: 21 z: 40 , green-rectangle x: -59 y: 8 z: 80 , grey-rectangle x: -2 y: -18 z: 80 , red-rectangle x: 38 y: 22 z: 0 , red-triangle x: -29 y: 39 z: 40])
* go home * from (38; 22; 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: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: 31 y: -5 z: 40])
* go above the element to pick * from (380; 0; 620) * to (31; -5; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 31 y: -5 z: 100, gripper: open, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: 31 y: -5 z: 40])
* go close to it * from(31; -5; 100)* to (31; -5; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 31 y: -5 z: 30, gripper: open, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: 31 y: -5 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 31 y: -5 z: 30, gripper: close, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: 31 y: -5 z: 40])
* move up * from (31; -5; 30) * to (31; -5; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 31 y: -5 z: 340, gripper: close, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: 31 y: -5 z: 340])
* go above the other element * from (31; -5; 640) * to (-12; -33; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -12 y: -33 z: 300, gripper: close, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: -12 y: -33 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -12 y: -33 z: 300, gripper: open, black-cup x: -12 y: -33 z: 0 , green-circle x: 29 y: 25 z: 40 , green-rectangle x: -11 y: -57 z: 80 , grey-rectangle x: -57 y: 11 z: 80 , red-rectangle x: 31 y: 47 z: 80 , red-triangle x: -12 y: -33 z: 0])
* go home * from (-12; -33; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup