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: -6 y: -51 z: 300, gripper: close, black-cup x: -6 y: -51 z: 0 , green-circle x: -6 y: -51 z: 300 , green-rectangle x: 58 y: -32 z: 80 , grey-rectangle x: 6 y: -49 z: 80 , red-rectangle x: 49 y: 55 z: 80 , red-triangle x: 3 y: -11 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -51 z: 300, gripper: open, black-cup x: -6 y: -51 z: 0 , green-circle x: -6 y: -51 z: 0 , green-rectangle x: 58 y: -32 z: 80 , grey-rectangle x: 6 y: -49 z: 80 , red-rectangle x: 49 y: 55 z: 80 , red-triangle x: 3 y: -11 z: 40])
* go home * from (-6; -51; 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: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -41 y: 36 z: 80 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-41; 36; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -41 y: 36 z: 140, gripper: open, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -41 y: 36 z: 80 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* go close to it * from(-41; 36; 140)* to (-41; 36; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -41 y: 36 z: 70, gripper: open, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -41 y: 36 z: 80 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -41 y: 36 z: 70, gripper: close, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -41 y: 36 z: 80 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* move up * from (-41; 36; 70) * to (-41; 36; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -41 y: 36 z: 380, gripper: close, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -41 y: 36 z: 380 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* go above the other element * from (-41; 36; 680) * to (-39; 23; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -39 y: 23 z: 300, gripper: close, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -39 y: 23 z: 300 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -39 y: 23 z: 300, gripper: open, black-cup x: -39 y: 23 z: 0 , green-circle x: 43 y: -38 z: 40 , green-rectangle x: -39 y: 23 z: 0 , grey-rectangle x: -52 y: -31 z: 80 , red-rectangle x: 17 y: 20 z: 80 , red-triangle x: 35 y: -1 z: 40])
* go home * from (-39; 23; 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: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: -31 y: 19 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-31; 19; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -31 y: 19 z: 140, gripper: open, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: -31 y: 19 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* go close to it * from(-31; 19; 140)* to (-31; 19; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -31 y: 19 z: 70, gripper: open, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: -31 y: 19 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -31 y: 19 z: 70, gripper: close, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: -31 y: 19 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* move up * from (-31; 19; 70) * to (-31; 19; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -31 y: 19 z: 380, gripper: close, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: -31 y: 19 z: 380 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* go above the other element * from (-31; 19; 680) * to (8; -49; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 8 y: -49 z: 300, gripper: close, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: 8 y: -49 z: 300 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 8 y: -49 z: 300, gripper: open, black-cup x: 8 y: -49 z: 0 , green-circle x: 50 y: 43 z: 40 , green-rectangle x: 17 y: -5 z: 80 , grey-rectangle x: 8 y: -49 z: 0 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: -39 y: 59 z: 40])
* go home * from (8; -49; 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: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 56 y: 1 z: 80 , red-triangle x: 42 y: 3 z: 40])
* go above the element to pick * from (380; 0; 620) * to (56; 1; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 56 y: 1 z: 140, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 56 y: 1 z: 80 , red-triangle x: 42 y: 3 z: 40])
* go close to it * from(56; 1; 140)* to (56; 1; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 56 y: 1 z: 70, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 56 y: 1 z: 80 , red-triangle x: 42 y: 3 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 56 y: 1 z: 70, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 56 y: 1 z: 80 , red-triangle x: 42 y: 3 z: 40])
* move up * from (56; 1; 70) * to (56; 1; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 56 y: 1 z: 380, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 56 y: 1 z: 380 , red-triangle x: 42 y: 3 z: 40])
* go above the other element * from (56; 1; 680) * to (44; 5; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 44 y: 5 z: 300, gripper: close, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 44 y: 5 z: 300 , red-triangle x: 42 y: 3 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 44 y: 5 z: 300, gripper: open, black-cup x: 44 y: 5 z: 0 , green-circle x: 15 y: 41 z: 40 , green-rectangle x: -19 y: -48 z: 80 , grey-rectangle x: 5 y: -52 z: 80 , red-rectangle x: 44 y: 5 z: 0 , red-triangle x: 42 y: 3 z: 40])
* go home * from (44; 5; 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: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: -9 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-9; 0; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -9 y: 0 z: 100, gripper: open, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: -9 y: 0 z: 40])
* go close to it * from(-9; 0; 100)* to (-9; 0; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -9 y: 0 z: 30, gripper: open, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: -9 y: 0 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -9 y: 0 z: 30, gripper: close, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: -9 y: 0 z: 40])
* move up * from (-9; 0; 30) * to (-9; 0; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -9 y: 0 z: 340, gripper: close, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: -9 y: 0 z: 340])
* go above the other element * from (-9; 0; 640) * to (47; -7; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 47 y: -7 z: 300, gripper: close, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: 47 y: -7 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 47 y: -7 z: 300, gripper: open, black-cup x: 47 y: -7 z: 0 , green-circle x: -25 y: 21 z: 40 , green-rectangle x: -28 y: -7 z: 80 , grey-rectangle x: -14 y: -8 z: 80 , red-rectangle x: 22 y: 32 z: 80 , red-triangle x: 47 y: -7 z: 0])
* go home * from (47; -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: 49 z: 0 , green-circle x: 23 y: -36 z: 40 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* go above the element to pick * from (380; 0; 620) * to (23; -36; 100)
take the green-circle and put it inside the black cup
table([ eof x: 23 y: -36 z: 100, gripper: open, black-cup x: -59 y: 49 z: 0 , green-circle x: 23 y: -36 z: 40 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* go close to it * from(23; -36; 100)* to (23; -36; 30)
take the green-circle and put it inside the black cup
table([ eof x: 23 y: -36 z: 30, gripper: open, black-cup x: -59 y: 49 z: 0 , green-circle x: 23 y: -36 z: 40 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 23 y: -36 z: 30, gripper: close, black-cup x: -59 y: 49 z: 0 , green-circle x: 23 y: -36 z: 40 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* move up * from (23; -36; 30) * to (23; -36; 340)
take the green-circle and put it inside the black cup
table([ eof x: 23 y: -36 z: 340, gripper: close, black-cup x: -59 y: 49 z: 0 , green-circle x: 23 y: -36 z: 340 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* go above the other element * from (23; -36; 640) * to (-59; 49; 300)
take the green-circle and put it inside the black cup
table([ eof x: -59 y: 49 z: 300, gripper: close, black-cup x: -59 y: 49 z: 0 , green-circle x: -59 y: 49 z: 300 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -59 y: 49 z: 300, gripper: open, black-cup x: -59 y: 49 z: 0 , green-circle x: -59 y: 49 z: 0 , green-rectangle x: -52 y: -50 z: 80 , grey-rectangle x: 0 y: -11 z: 80 , red-rectangle x: -24 y: 54 z: 80 , red-triangle x: -14 y: 51 z: 40])
* go home * from (-59; 49; 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: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: 19 y: -31 z: 80 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* go above the element to pick * from (380; 0; 620) * to (19; -31; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 19 y: -31 z: 140, gripper: open, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: 19 y: -31 z: 80 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* go close to it * from(19; -31; 140)* to (19; -31; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 19 y: -31 z: 70, gripper: open, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: 19 y: -31 z: 80 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 19 y: -31 z: 70, gripper: close, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: 19 y: -31 z: 80 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* move up * from (19; -31; 70) * to (19; -31; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 19 y: -31 z: 380, gripper: close, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: 19 y: -31 z: 380 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* go above the other element * from (19; -31; 680) * to (-55; 0; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: 0 z: 300, gripper: close, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: -55 y: 0 z: 300 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: 0 z: 300, gripper: open, black-cup x: -55 y: 0 z: 0 , green-circle x: 17 y: 13 z: 40 , green-rectangle x: -55 y: 0 z: 0 , grey-rectangle x: 29 y: -15 z: 80 , red-rectangle x: 14 y: -22 z: 80 , red-triangle x: 41 y: 55 z: 40])
* go home * from (-55; 0; 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: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 26 y: -59 z: 80 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* go above the element to pick * from (380; 0; 620) * to (26; -59; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: -59 z: 140, gripper: open, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 26 y: -59 z: 80 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* go close to it * from(26; -59; 140)* to (26; -59; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: -59 z: 70, gripper: open, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 26 y: -59 z: 80 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: -59 z: 70, gripper: close, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 26 y: -59 z: 80 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* move up * from (26; -59; 70) * to (26; -59; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: -59 z: 380, gripper: close, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 26 y: -59 z: 380 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* go above the other element * from (26; -59; 680) * to (0; -50; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 0 y: -50 z: 300, gripper: close, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 0 y: -50 z: 300 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 0 y: -50 z: 300, gripper: open, black-cup x: 0 y: -50 z: 0 , green-circle x: 17 y: -6 z: 40 , green-rectangle x: 5 y: -33 z: 80 , grey-rectangle x: 0 y: -50 z: 0 , red-rectangle x: 22 y: -2 z: 80 , red-triangle x: -24 y: -1 z: 40])
* go home * from (0; -50; 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: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -59 y: -4 z: 80 , red-triangle x: -45 y: -2 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-59; -4; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -59 y: -4 z: 140, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -59 y: -4 z: 80 , red-triangle x: -45 y: -2 z: 40])
* go close to it * from(-59; -4; 140)* to (-59; -4; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -59 y: -4 z: 70, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -59 y: -4 z: 80 , red-triangle x: -45 y: -2 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -59 y: -4 z: 70, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -59 y: -4 z: 80 , red-triangle x: -45 y: -2 z: 40])
* move up * from (-59; -4; 70) * to (-59; -4; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -59 y: -4 z: 380, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -59 y: -4 z: 380 , red-triangle x: -45 y: -2 z: 40])
* go above the other element * from (-59; -4; 680) * to (-16; 38; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -16 y: 38 z: 300, gripper: close, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -16 y: 38 z: 300 , red-triangle x: -45 y: -2 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -16 y: 38 z: 300, gripper: open, black-cup x: -16 y: 38 z: 0 , green-circle x: 8 y: 16 z: 40 , green-rectangle x: -29 y: 52 z: 80 , grey-rectangle x: -46 y: -1 z: 80 , red-rectangle x: -16 y: 38 z: 0 , red-triangle x: -45 y: -2 z: 40])
* go home * from (-16; 38; 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: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 34 y: -28 z: 40])
* go above the element to pick * from (380; 0; 620) * to (34; -28; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 34 y: -28 z: 100, gripper: open, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 34 y: -28 z: 40])
* go close to it * from(34; -28; 100)* to (34; -28; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 34 y: -28 z: 30, gripper: open, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 34 y: -28 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 34 y: -28 z: 30, gripper: close, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 34 y: -28 z: 40])
* move up * from (34; -28; 30) * to (34; -28; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 34 y: -28 z: 340, gripper: close, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 34 y: -28 z: 340])
* go above the other element * from (34; -28; 640) * to (23; -52; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -52 z: 300, gripper: close, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 23 y: -52 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -52 z: 300, gripper: open, black-cup x: 23 y: -52 z: 0 , green-circle x: 10 y: 26 z: 40 , green-rectangle x: 18 y: -29 z: 80 , grey-rectangle x: -42 y: 24 z: 80 , red-rectangle x: 19 y: 31 z: 80 , red-triangle x: 23 y: -52 z: 0])
* go home * from (23; -52; 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: -13 y: 47 z: 0 , green-circle x: -44 y: 53 z: 40 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-44; 53; 100)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 53 z: 100, gripper: open, black-cup x: -13 y: 47 z: 0 , green-circle x: -44 y: 53 z: 40 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* go close to it * from(-44; 53; 100)* to (-44; 53; 30)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 53 z: 30, gripper: open, black-cup x: -13 y: 47 z: 0 , green-circle x: -44 y: 53 z: 40 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 53 z: 30, gripper: close, black-cup x: -13 y: 47 z: 0 , green-circle x: -44 y: 53 z: 40 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* move up * from (-44; 53; 30) * to (-44; 53; 340)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 53 z: 340, gripper: close, black-cup x: -13 y: 47 z: 0 , green-circle x: -44 y: 53 z: 340 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* go above the other element * from (-44; 53; 640) * to (-13; 47; 300)
take the green-circle and put it inside the black cup
table([ eof x: -13 y: 47 z: 300, gripper: close, black-cup x: -13 y: 47 z: 0 , green-circle x: -13 y: 47 z: 300 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -13 y: 47 z: 300, gripper: open, black-cup x: -13 y: 47 z: 0 , green-circle x: -13 y: 47 z: 0 , green-rectangle x: 10 y: -41 z: 80 , grey-rectangle x: -4 y: -58 z: 80 , red-rectangle x: -47 y: -18 z: 80 , red-triangle x: -52 y: 22 z: 40])
* go home * from (-13; 47; 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: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: 25 y: -19 z: 80 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* go above the element to pick * from (380; 0; 620) * to (25; -19; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 140, gripper: open, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: 25 y: -19 z: 80 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* go close to it * from(25; -19; 140)* to (25; -19; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 70, gripper: open, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: 25 y: -19 z: 80 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 70, gripper: close, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: 25 y: -19 z: 80 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* move up * from (25; -19; 70) * to (25; -19; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 380, gripper: close, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: 25 y: -19 z: 380 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* go above the other element * from (25; -19; 680) * to (-58; 36; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -58 y: 36 z: 300, gripper: close, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: -58 y: 36 z: 300 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -58 y: 36 z: 300, gripper: open, black-cup x: -58 y: 36 z: 0 , green-circle x: -8 y: -20 z: 40 , green-rectangle x: -58 y: 36 z: 0 , grey-rectangle x: -28 y: -33 z: 80 , red-rectangle x: -53 y: -27 z: 80 , red-triangle x: -27 y: 34 z: 40])
* go home * from (-58; 36; 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: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -23 y: 2 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-23; 2; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -23 y: 2 z: 140, gripper: open, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -23 y: 2 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* go close to it * from(-23; 2; 140)* to (-23; 2; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -23 y: 2 z: 70, gripper: open, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -23 y: 2 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -23 y: 2 z: 70, gripper: close, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -23 y: 2 z: 80 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* move up * from (-23; 2; 70) * to (-23; 2; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -23 y: 2 z: 380, gripper: close, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -23 y: 2 z: 380 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* go above the other element * from (-23; 2; 680) * to (-4; 41; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -4 y: 41 z: 300, gripper: close, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -4 y: 41 z: 300 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -4 y: 41 z: 300, gripper: open, black-cup x: -4 y: 41 z: 0 , green-circle x: -20 y: -19 z: 40 , green-rectangle x: 19 y: -45 z: 80 , grey-rectangle x: -4 y: 41 z: 0 , red-rectangle x: 55 y: 28 z: 80 , red-triangle x: 1 y: -56 z: 40])
* go home * from (-4; 41; 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: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: -45 y: -26 z: 80 , red-triangle x: -34 y: -9 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-45; -26; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: -26 z: 140, gripper: open, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: -45 y: -26 z: 80 , red-triangle x: -34 y: -9 z: 40])
* go close to it * from(-45; -26; 140)* to (-45; -26; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: -26 z: 70, gripper: open, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: -45 y: -26 z: 80 , red-triangle x: -34 y: -9 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: -26 z: 70, gripper: close, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: -45 y: -26 z: 80 , red-triangle x: -34 y: -9 z: 40])
* move up * from (-45; -26; 70) * to (-45; -26; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: -26 z: 380, gripper: close, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: -45 y: -26 z: 380 , red-triangle x: -34 y: -9 z: 40])
* go above the other element * from (-45; -26; 680) * to (25; -19; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 300, gripper: close, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: 25 y: -19 z: 300 , red-triangle x: -34 y: -9 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 25 y: -19 z: 300, gripper: open, black-cup x: 25 y: -19 z: 0 , green-circle x: 0 y: -35 z: 40 , green-rectangle x: -30 y: -7 z: 80 , grey-rectangle x: -49 y: -20 z: 80 , red-rectangle x: 25 y: -19 z: 0 , red-triangle x: -34 y: -9 z: 40])
* go home * from (25; -19; 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: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 9 y: -7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (9; -7; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 9 y: -7 z: 100, gripper: open, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 9 y: -7 z: 40])
* go close to it * from(9; -7; 100)* to (9; -7; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 9 y: -7 z: 30, gripper: open, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 9 y: -7 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 9 y: -7 z: 30, gripper: close, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 9 y: -7 z: 40])
* move up * from (9; -7; 30) * to (9; -7; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 9 y: -7 z: 340, gripper: close, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 9 y: -7 z: 340])
* go above the other element * from (9; -7; 640) * to (54; 52; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 54 y: 52 z: 300, gripper: close, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 54 y: 52 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 54 y: 52 z: 300, gripper: open, black-cup x: 54 y: 52 z: 0 , green-circle x: -25 y: -30 z: 40 , green-rectangle x: -1 y: -19 z: 80 , grey-rectangle x: -52 y: -13 z: 80 , red-rectangle x: 47 y: 36 z: 80 , red-triangle x: 54 y: 52 z: 0])
* go home * from (54; 52; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup