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: -22 y: 0 z: 300, gripper: open, black-cup x: -22 y: 0 z: 0 , green-circle x: -55 y: -1 z: 40 , green-rectangle x: 8 y: -38 z: 80 , grey-rectangle x: -22 y: 0 z: 0 , red-rectangle x: 38 y: 52 z: 80 , red-triangle x: -49 y: 58 z: 40])
* go home * from (-22; 0; 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: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -21 y: 24 z: 80 , red-triangle x: 17 y: -56 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-21; 24; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -21 y: 24 z: 140, gripper: open, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -21 y: 24 z: 80 , red-triangle x: 17 y: -56 z: 40])
* go close to it * from(-21; 24; 140)* to (-21; 24; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -21 y: 24 z: 70, gripper: open, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -21 y: 24 z: 80 , red-triangle x: 17 y: -56 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -21 y: 24 z: 70, gripper: close, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -21 y: 24 z: 80 , red-triangle x: 17 y: -56 z: 40])
* move up * from (-21; 24; 70) * to (-21; 24; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -21 y: 24 z: 380, gripper: close, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -21 y: 24 z: 380 , red-triangle x: 17 y: -56 z: 40])
* go above the other element * from (-21; 24; 680) * to (-12; 50; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -12 y: 50 z: 300, gripper: close, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -12 y: 50 z: 300 , red-triangle x: 17 y: -56 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -12 y: 50 z: 300, gripper: open, black-cup x: -12 y: 50 z: 0 , green-circle x: -19 y: -18 z: 40 , green-rectangle x: 7 y: -32 z: 80 , grey-rectangle x: -22 y: -54 z: 80 , red-rectangle x: -12 y: 50 z: 0 , red-triangle x: 17 y: -56 z: 40])
* go home * from (-12; 50; 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: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 4 y: -34 z: 40])
* go above the element to pick * from (380; 0; 620) * to (4; -34; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 4 y: -34 z: 100, gripper: open, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 4 y: -34 z: 40])
* go close to it * from(4; -34; 100)* to (4; -34; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 4 y: -34 z: 30, gripper: open, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 4 y: -34 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 4 y: -34 z: 30, gripper: close, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 4 y: -34 z: 40])
* move up * from (4; -34; 30) * to (4; -34; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 4 y: -34 z: 340, gripper: close, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 4 y: -34 z: 340])
* go above the other element * from (4; -34; 640) * to (23; -44; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -44 z: 300, gripper: close, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 23 y: -44 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -44 z: 300, gripper: open, black-cup x: 23 y: -44 z: 0 , green-circle x: 17 y: -52 z: 40 , green-rectangle x: -25 y: -26 z: 80 , grey-rectangle x: 36 y: 29 z: 80 , red-rectangle x: 20 y: 32 z: 80 , red-triangle x: 23 y: -44 z: 0])
* go home * from (23; -44; 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: -27 y: -53 z: 0 , green-circle x: 30 y: -25 z: 40 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (30; -25; 100)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -25 z: 100, gripper: open, black-cup x: -27 y: -53 z: 0 , green-circle x: 30 y: -25 z: 40 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* go close to it * from(30; -25; 100)* to (30; -25; 30)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -25 z: 30, gripper: open, black-cup x: -27 y: -53 z: 0 , green-circle x: 30 y: -25 z: 40 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -25 z: 30, gripper: close, black-cup x: -27 y: -53 z: 0 , green-circle x: 30 y: -25 z: 40 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* move up * from (30; -25; 30) * to (30; -25; 340)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -25 z: 340, gripper: close, black-cup x: -27 y: -53 z: 0 , green-circle x: 30 y: -25 z: 340 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* go above the other element * from (30; -25; 640) * to (-27; -53; 300)
take the green-circle and put it inside the black cup
table([ eof x: -27 y: -53 z: 300, gripper: close, black-cup x: -27 y: -53 z: 0 , green-circle x: -27 y: -53 z: 300 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -27 y: -53 z: 300, gripper: open, black-cup x: -27 y: -53 z: 0 , green-circle x: -27 y: -53 z: 0 , green-rectangle x: 7 y: -22 z: 80 , grey-rectangle x: 34 y: -10 z: 80 , red-rectangle x: -35 y: -56 z: 80 , red-triangle x: 24 y: 0 z: 40])
* go home * from (-27; -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: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* go above the element to pick * from (380; 0; 620) * to (23; 55; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 140, gripper: open, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* go close to it * from(23; 55; 140)* to (23; 55; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 70, gripper: open, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 70, gripper: close, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 23 y: 55 z: 80 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* move up * from (23; 55; 70) * to (23; 55; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 23 y: 55 z: 380, gripper: close, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 23 y: 55 z: 380 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* go above the other element * from (23; 55; 680) * to (31; 48; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 31 y: 48 z: 300, gripper: close, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 31 y: 48 z: 300 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 31 y: 48 z: 300, gripper: open, black-cup x: 31 y: 48 z: 0 , green-circle x: 8 y: -6 z: 40 , green-rectangle x: 31 y: 48 z: 0 , grey-rectangle x: 33 y: 34 z: 80 , red-rectangle x: -35 y: 53 z: 80 , red-triangle x: -46 y: -41 z: 40])
* go home * from (31; 48; 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: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: 12 y: -49 z: 80 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* go above the element to pick * from (380; 0; 620) * to (12; -49; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 12 y: -49 z: 140, gripper: open, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: 12 y: -49 z: 80 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* go close to it * from(12; -49; 140)* to (12; -49; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 12 y: -49 z: 70, gripper: open, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: 12 y: -49 z: 80 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 12 y: -49 z: 70, gripper: close, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: 12 y: -49 z: 80 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* move up * from (12; -49; 70) * to (12; -49; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 12 y: -49 z: 380, gripper: close, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: 12 y: -49 z: 380 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* go above the other element * from (12; -49; 680) * to (-11; 45; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -11 y: 45 z: 300, gripper: close, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: -11 y: 45 z: 300 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -11 y: 45 z: 300, gripper: open, black-cup x: -11 y: 45 z: 0 , green-circle x: 0 y: 23 z: 40 , green-rectangle x: 20 y: -49 z: 80 , grey-rectangle x: -11 y: 45 z: 0 , red-rectangle x: -54 y: -38 z: 80 , red-triangle x: -22 y: -43 z: 40])
* go home * from (-11; 45; 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: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: 45 y: 4 z: 80 , red-triangle x: 12 y: 31 z: 40])
* go above the element to pick * from (380; 0; 620) * to (45; 4; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 45 y: 4 z: 140, gripper: open, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: 45 y: 4 z: 80 , red-triangle x: 12 y: 31 z: 40])
* go close to it * from(45; 4; 140)* to (45; 4; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 45 y: 4 z: 70, gripper: open, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: 45 y: 4 z: 80 , red-triangle x: 12 y: 31 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 45 y: 4 z: 70, gripper: close, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: 45 y: 4 z: 80 , red-triangle x: 12 y: 31 z: 40])
* move up * from (45; 4; 70) * to (45; 4; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 45 y: 4 z: 380, gripper: close, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: 45 y: 4 z: 380 , red-triangle x: 12 y: 31 z: 40])
* go above the other element * from (45; 4; 680) * to (-42; -30; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -42 y: -30 z: 300, gripper: close, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: -42 y: -30 z: 300 , red-triangle x: 12 y: 31 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -42 y: -30 z: 300, gripper: open, black-cup x: -42 y: -30 z: 0 , green-circle x: -33 y: 19 z: 40 , green-rectangle x: -32 y: -26 z: 80 , grey-rectangle x: 24 y: 5 z: 80 , red-rectangle x: -42 y: -30 z: 0 , red-triangle x: 12 y: 31 z: 40])
* go home * from (-42; -30; 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: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -37 y: 4 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-37; 4; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -37 y: 4 z: 100, gripper: open, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -37 y: 4 z: 40])
* go close to it * from(-37; 4; 100)* to (-37; 4; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -37 y: 4 z: 30, gripper: open, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -37 y: 4 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -37 y: 4 z: 30, gripper: close, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -37 y: 4 z: 40])
* move up * from (-37; 4; 30) * to (-37; 4; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -37 y: 4 z: 340, gripper: close, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -37 y: 4 z: 340])
* go above the other element * from (-37; 4; 640) * to (-33; -26; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -26 z: 300, gripper: close, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -33 y: -26 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -26 z: 300, gripper: open, black-cup x: -33 y: -26 z: 0 , green-circle x: -14 y: -14 z: 40 , green-rectangle x: 30 y: 21 z: 80 , grey-rectangle x: 36 y: -11 z: 80 , red-rectangle x: 9 y: -51 z: 80 , red-triangle x: -33 y: -26 z: 0])
* go home * from (-33; -26; 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: -10 y: -35 z: 0 , green-circle x: -52 y: 17 z: 40 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-52; 17; 100)
take the green-circle and put it inside the black cup
table([ eof x: -52 y: 17 z: 100, gripper: open, black-cup x: -10 y: -35 z: 0 , green-circle x: -52 y: 17 z: 40 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* go close to it * from(-52; 17; 100)* to (-52; 17; 30)
take the green-circle and put it inside the black cup
table([ eof x: -52 y: 17 z: 30, gripper: open, black-cup x: -10 y: -35 z: 0 , green-circle x: -52 y: 17 z: 40 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -52 y: 17 z: 30, gripper: close, black-cup x: -10 y: -35 z: 0 , green-circle x: -52 y: 17 z: 40 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* move up * from (-52; 17; 30) * to (-52; 17; 340)
take the green-circle and put it inside the black cup
table([ eof x: -52 y: 17 z: 340, gripper: close, black-cup x: -10 y: -35 z: 0 , green-circle x: -52 y: 17 z: 340 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* go above the other element * from (-52; 17; 640) * to (-10; -35; 300)
take the green-circle and put it inside the black cup
table([ eof x: -10 y: -35 z: 300, gripper: close, black-cup x: -10 y: -35 z: 0 , green-circle x: -10 y: -35 z: 300 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -10 y: -35 z: 300, gripper: open, black-cup x: -10 y: -35 z: 0 , green-circle x: -10 y: -35 z: 0 , green-rectangle x: 38 y: -19 z: 80 , grey-rectangle x: -32 y: 48 z: 80 , red-rectangle x: -27 y: -42 z: 80 , red-triangle x: -53 y: -52 z: 40])
* go home * from (-10; -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: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: -33 y: -15 z: 80 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-33; -15; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -33 y: -15 z: 140, gripper: open, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: -33 y: -15 z: 80 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* go close to it * from(-33; -15; 140)* to (-33; -15; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -33 y: -15 z: 70, gripper: open, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: -33 y: -15 z: 80 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -33 y: -15 z: 70, gripper: close, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: -33 y: -15 z: 80 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* move up * from (-33; -15; 70) * to (-33; -15; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -33 y: -15 z: 380, gripper: close, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: -33 y: -15 z: 380 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* go above the other element * from (-33; -15; 680) * to (55; 4; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 55 y: 4 z: 300, gripper: close, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: 55 y: 4 z: 300 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 55 y: 4 z: 300, gripper: open, black-cup x: 55 y: 4 z: 0 , green-circle x: -34 y: -32 z: 40 , green-rectangle x: 55 y: 4 z: 0 , grey-rectangle x: -58 y: 10 z: 80 , red-rectangle x: 6 y: -24 z: 80 , red-triangle x: -5 y: -30 z: 40])
* go home * from (55; 4; 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: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -41 y: 59 z: 80 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-41; 59; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -41 y: 59 z: 140, gripper: open, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -41 y: 59 z: 80 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* go close to it * from(-41; 59; 140)* to (-41; 59; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -41 y: 59 z: 70, gripper: open, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -41 y: 59 z: 80 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -41 y: 59 z: 70, gripper: close, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -41 y: 59 z: 80 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* move up * from (-41; 59; 70) * to (-41; 59; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -41 y: 59 z: 380, gripper: close, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -41 y: 59 z: 380 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* go above the other element * from (-41; 59; 680) * to (-58; 3; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -58 y: 3 z: 300, gripper: close, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -58 y: 3 z: 300 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -58 y: 3 z: 300, gripper: open, black-cup x: -58 y: 3 z: 0 , green-circle x: 42 y: 14 z: 40 , green-rectangle x: -59 y: -35 z: 80 , grey-rectangle x: -58 y: 3 z: 0 , red-rectangle x: -14 y: -50 z: 80 , red-triangle x: 55 y: 4 z: 40])
* go home * from (-58; 3; 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: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 22 y: -28 z: 80 , red-triangle x: 14 y: 59 z: 40])
* go above the element to pick * from (380; 0; 620) * to (22; -28; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: -28 z: 140, gripper: open, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 22 y: -28 z: 80 , red-triangle x: 14 y: 59 z: 40])
* go close to it * from(22; -28; 140)* to (22; -28; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: -28 z: 70, gripper: open, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 22 y: -28 z: 80 , red-triangle x: 14 y: 59 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: -28 z: 70, gripper: close, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 22 y: -28 z: 80 , red-triangle x: 14 y: 59 z: 40])
* move up * from (22; -28; 70) * to (22; -28; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: -28 z: 380, gripper: close, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 22 y: -28 z: 380 , red-triangle x: 14 y: 59 z: 40])
* go above the other element * from (22; -28; 680) * to (5; 29; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 5 y: 29 z: 300, gripper: close, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 5 y: 29 z: 300 , red-triangle x: 14 y: 59 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 5 y: 29 z: 300, gripper: open, black-cup x: 5 y: 29 z: 0 , green-circle x: -15 y: -43 z: 40 , green-rectangle x: -3 y: -11 z: 80 , grey-rectangle x: 47 y: 13 z: 80 , red-rectangle x: 5 y: 29 z: 0 , red-triangle x: 14 y: 59 z: 40])
* go home * from (5; 29; 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: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: 45 y: -40 z: 40])
* go above the element to pick * from (380; 0; 620) * to (45; -40; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -40 z: 100, gripper: open, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: 45 y: -40 z: 40])
* go close to it * from(45; -40; 100)* to (45; -40; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -40 z: 30, gripper: open, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: 45 y: -40 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -40 z: 30, gripper: close, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: 45 y: -40 z: 40])
* move up * from (45; -40; 30) * to (45; -40; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -40 z: 340, gripper: close, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: 45 y: -40 z: 340])
* go above the other element * from (45; -40; 640) * to (-54; -56; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -54 y: -56 z: 300, gripper: close, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: -54 y: -56 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -54 y: -56 z: 300, gripper: open, black-cup x: -54 y: -56 z: 0 , green-circle x: -10 y: -38 z: 40 , green-rectangle x: 44 y: 55 z: 80 , grey-rectangle x: 46 y: -13 z: 80 , red-rectangle x: 5 y: -52 z: 80 , red-triangle x: -54 y: -56 z: 0])
* go home * from (-54; -56; 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: 37 y: -59 z: 0 , green-circle x: -41 y: 30 z: 40 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-41; 30; 100)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: 30 z: 100, gripper: open, black-cup x: 37 y: -59 z: 0 , green-circle x: -41 y: 30 z: 40 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* go close to it * from(-41; 30; 100)* to (-41; 30; 30)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: 30 z: 30, gripper: open, black-cup x: 37 y: -59 z: 0 , green-circle x: -41 y: 30 z: 40 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -41 y: 30 z: 30, gripper: close, black-cup x: 37 y: -59 z: 0 , green-circle x: -41 y: 30 z: 40 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* move up * from (-41; 30; 30) * to (-41; 30; 340)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: 30 z: 340, gripper: close, black-cup x: 37 y: -59 z: 0 , green-circle x: -41 y: 30 z: 340 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* go above the other element * from (-41; 30; 640) * to (37; -59; 300)
take the green-circle and put it inside the black cup
table([ eof x: 37 y: -59 z: 300, gripper: close, black-cup x: 37 y: -59 z: 0 , green-circle x: 37 y: -59 z: 300 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 37 y: -59 z: 300, gripper: open, black-cup x: 37 y: -59 z: 0 , green-circle x: 37 y: -59 z: 0 , green-rectangle x: -56 y: 58 z: 80 , grey-rectangle x: 52 y: -23 z: 80 , red-rectangle x: -6 y: -40 z: 80 , red-triangle x: -25 y: 9 z: 40])
* go home * from (37; -59; 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: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 35 y: 20 z: 80 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* go above the element to pick * from (380; 0; 620) * to (35; 20; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: 20 z: 140, gripper: open, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 35 y: 20 z: 80 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* go close to it * from(35; 20; 140)* to (35; 20; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: 20 z: 70, gripper: open, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 35 y: 20 z: 80 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: 20 z: 70, gripper: close, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 35 y: 20 z: 80 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* move up * from (35; 20; 70) * to (35; 20; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 35 y: 20 z: 380, gripper: close, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 35 y: 20 z: 380 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* go above the other element * from (35; 20; 680) * to (6; -22; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 6 y: -22 z: 300, gripper: close, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 6 y: -22 z: 300 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 6 y: -22 z: 300, gripper: open, black-cup x: 6 y: -22 z: 0 , green-circle x: -57 y: -4 z: 40 , green-rectangle x: 6 y: -22 z: 0 , grey-rectangle x: -26 y: 21 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -55 y: 45 z: 40])
* go home * from (6; -22; 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: 55 y: -14 z: 0 , green-circle x: -4 y: -18 z: 40 , green-rectangle x: -35 y: -23 z: 80 , grey-rectangle x: -51 y: -33 z: 80 , red-rectangle x: 41 y: -43 z: 80 , red-triangle x: -40 y: 4 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-51; -33; 140)
take the grey-rectangle and put it inside the black cup