Datasets:
marcomaccarini
/
ds_robot_21

Dataset card Data Studio Files
xet
Community
2
context
stringlengths
238
262
answer
stringlengths
27
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stringclasses
5 values
table([ eof x: 39 y: -33 z: 300, gripper: open, black-cup x: 39 y: -33 z: 0 , green-circle x: -39 y: 29 z: 40 , green-rectangle x: 2 y: 33 z: 80 , grey-rectangle x: 39 y: -33 z: 0 , red-rectangle x: -33 y: -30 z: 80 , red-triangle x: 47 y: -16 z: 40])
* go home * from (39; -33; 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: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: -40 y: 59 z: 80 , red-triangle x: -33 y: -42 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-40; 59; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: 59 z: 140, gripper: open, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: -40 y: 59 z: 80 , red-triangle x: -33 y: -42 z: 40])
* go close to it * from(-40; 59; 140)* to (-40; 59; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: 59 z: 70, gripper: open, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: -40 y: 59 z: 80 , red-triangle x: -33 y: -42 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: 59 z: 70, gripper: close, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: -40 y: 59 z: 80 , red-triangle x: -33 y: -42 z: 40])
* move up * from (-40; 59; 70) * to (-40; 59; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: 59 z: 380, gripper: close, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: -40 y: 59 z: 380 , red-triangle x: -33 y: -42 z: 40])
* go above the other element * from (-40; 59; 680) * to (12; 35; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 12 y: 35 z: 300, gripper: close, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: 12 y: 35 z: 300 , red-triangle x: -33 y: -42 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 12 y: 35 z: 300, gripper: open, black-cup x: 12 y: 35 z: 0 , green-circle x: 9 y: -51 z: 40 , green-rectangle x: 24 y: -4 z: 80 , grey-rectangle x: 40 y: -55 z: 80 , red-rectangle x: 12 y: 35 z: 0 , red-triangle x: -33 y: -42 z: 40])
* go home * from (12; 35; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -13 y: -47 z: 0 , green-circle x: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -38 y: -54 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-38; -54; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -38 y: -54 z: 100, gripper: open, black-cup x: -13 y: -47 z: 0 , green-circle x: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -38 y: -54 z: 40])
* go close to it * from(-38; -54; 100)* to (-38; -54; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -38 y: -54 z: 30, gripper: open, black-cup x: -13 y: -47 z: 0 , green-circle x: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -38 y: -54 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -38 y: -54 z: 30, gripper: close, black-cup x: -13 y: -47 z: 0 , green-circle x: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -38 y: -54 z: 40])
* move up * from (-38; -54; 30) * to (-38; -54; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -38 y: -54 z: 340, gripper: close, black-cup x: -13 y: -47 z: 0 , green-circle x: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -38 y: -54 z: 340])
* go above the other element * from (-38; -54; 640) * to (-13; -47; 300)
take the red-triangle 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: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -13 y: -47 z: 300])
* leave the element * open gripper
take the red-triangle 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: -40 y: 24 z: 40 , green-rectangle x: -8 y: 25 z: 80 , grey-rectangle x: -25 y: 52 z: 80 , red-rectangle x: -4 y: 33 z: 80 , red-triangle x: -13 y: -47 z: 0])
* go home * from (-13; -47; 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: -6 y: -19 z: 0 , green-circle x: -41 y: -55 z: 40 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-41; -55; 100)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: -55 z: 100, gripper: open, black-cup x: -6 y: -19 z: 0 , green-circle x: -41 y: -55 z: 40 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* go close to it * from(-41; -55; 100)* to (-41; -55; 30)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: -55 z: 30, gripper: open, black-cup x: -6 y: -19 z: 0 , green-circle x: -41 y: -55 z: 40 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -41 y: -55 z: 30, gripper: close, black-cup x: -6 y: -19 z: 0 , green-circle x: -41 y: -55 z: 40 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* move up * from (-41; -55; 30) * to (-41; -55; 340)
take the green-circle and put it inside the black cup
table([ eof x: -41 y: -55 z: 340, gripper: close, black-cup x: -6 y: -19 z: 0 , green-circle x: -41 y: -55 z: 340 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* go above the other element * from (-41; -55; 640) * to (-6; -19; 300)
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -19 z: 300, gripper: close, black-cup x: -6 y: -19 z: 0 , green-circle x: -6 y: -19 z: 300 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -6 y: -19 z: 300, gripper: open, black-cup x: -6 y: -19 z: 0 , green-circle x: -6 y: -19 z: 0 , green-rectangle x: 12 y: -13 z: 80 , grey-rectangle x: -53 y: -45 z: 80 , red-rectangle x: 28 y: -34 z: 80 , red-triangle x: 35 y: -25 z: 40])
* go home * from (-6; -19; 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: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 42 y: 12 z: 80 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* go above the element to pick * from (380; 0; 620) * to (42; 12; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 42 y: 12 z: 140, gripper: open, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 42 y: 12 z: 80 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* go close to it * from(42; 12; 140)* to (42; 12; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 42 y: 12 z: 70, gripper: open, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 42 y: 12 z: 80 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 42 y: 12 z: 70, gripper: close, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 42 y: 12 z: 80 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* move up * from (42; 12; 70) * to (42; 12; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 42 y: 12 z: 380, gripper: close, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 42 y: 12 z: 380 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* go above the other element * from (42; 12; 680) * to (47; -22; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 47 y: -22 z: 300, gripper: close, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 47 y: -22 z: 300 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 47 y: -22 z: 300, gripper: open, black-cup x: 47 y: -22 z: 0 , green-circle x: 0 y: 8 z: 40 , green-rectangle x: 47 y: -22 z: 0 , grey-rectangle x: 50 y: 42 z: 80 , red-rectangle x: -2 y: 54 z: 80 , red-triangle x: -54 y: 13 z: 40])
* go home * from (47; -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: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 26 y: 0 z: 80 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* go above the element to pick * from (380; 0; 620) * to (26; 0; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: 0 z: 140, gripper: open, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 26 y: 0 z: 80 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* go close to it * from(26; 0; 140)* to (26; 0; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: 0 z: 70, gripper: open, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 26 y: 0 z: 80 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: 0 z: 70, gripper: close, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 26 y: 0 z: 80 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* move up * from (26; 0; 70) * to (26; 0; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 26 y: 0 z: 380, gripper: close, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 26 y: 0 z: 380 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* go above the other element * from (26; 0; 680) * to (49; 57; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 49 y: 57 z: 300, gripper: close, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 49 y: 57 z: 300 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 49 y: 57 z: 300, gripper: open, black-cup x: 49 y: 57 z: 0 , green-circle x: 53 y: 26 z: 40 , green-rectangle x: 54 y: -22 z: 80 , grey-rectangle x: 49 y: 57 z: 0 , red-rectangle x: -41 y: 15 z: 80 , red-triangle x: -20 y: -6 z: 40])
* go home * from (49; 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: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 50 y: 6 z: 80 , red-triangle x: 5 y: 14 z: 40])
* go above the element to pick * from (380; 0; 620) * to (50; 6; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: 6 z: 140, gripper: open, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 50 y: 6 z: 80 , red-triangle x: 5 y: 14 z: 40])
* go close to it * from(50; 6; 140)* to (50; 6; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: 6 z: 70, gripper: open, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 50 y: 6 z: 80 , red-triangle x: 5 y: 14 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: 6 z: 70, gripper: close, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 50 y: 6 z: 80 , red-triangle x: 5 y: 14 z: 40])
* move up * from (50; 6; 70) * to (50; 6; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 50 y: 6 z: 380, gripper: close, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 50 y: 6 z: 380 , red-triangle x: 5 y: 14 z: 40])
* go above the other element * from (50; 6; 680) * to (54; 53; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 53 z: 300, gripper: close, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 54 y: 53 z: 300 , red-triangle x: 5 y: 14 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 53 z: 300, gripper: open, black-cup x: 54 y: 53 z: 0 , green-circle x: -44 y: -29 z: 40 , green-rectangle x: 26 y: 6 z: 80 , grey-rectangle x: 40 y: 21 z: 80 , red-rectangle x: 54 y: 53 z: 0 , red-triangle x: 5 y: 14 z: 40])
* go home * from (54; 53; 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: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 21 y: -17 z: 40])
* go above the element to pick * from (380; 0; 620) * to (21; -17; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: -17 z: 100, gripper: open, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 21 y: -17 z: 40])
* go close to it * from(21; -17; 100)* to (21; -17; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: -17 z: 30, gripper: open, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 21 y: -17 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: -17 z: 30, gripper: close, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 21 y: -17 z: 40])
* move up * from (21; -17; 30) * to (21; -17; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: -17 z: 340, gripper: close, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 21 y: -17 z: 340])
* go above the other element * from (21; -17; 640) * to (22; 3; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 22 y: 3 z: 300, gripper: close, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 22 y: 3 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 22 y: 3 z: 300, gripper: open, black-cup x: 22 y: 3 z: 0 , green-circle x: -29 y: 21 z: 40 , green-rectangle x: -59 y: 15 z: 80 , grey-rectangle x: 12 y: -7 z: 80 , red-rectangle x: -18 y: -18 z: 80 , red-triangle x: 22 y: 3 z: 0])
* go home * from (22; 3; 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: -11 y: -29 z: 0 , green-circle x: 0 y: -18 z: 40 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* go above the element to pick * from (380; 0; 620) * to (0; -18; 100)
take the green-circle and put it inside the black cup
table([ eof x: 0 y: -18 z: 100, gripper: open, black-cup x: -11 y: -29 z: 0 , green-circle x: 0 y: -18 z: 40 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* go close to it * from(0; -18; 100)* to (0; -18; 30)
take the green-circle and put it inside the black cup
table([ eof x: 0 y: -18 z: 30, gripper: open, black-cup x: -11 y: -29 z: 0 , green-circle x: 0 y: -18 z: 40 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 0 y: -18 z: 30, gripper: close, black-cup x: -11 y: -29 z: 0 , green-circle x: 0 y: -18 z: 40 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* move up * from (0; -18; 30) * to (0; -18; 340)
take the green-circle and put it inside the black cup
table([ eof x: 0 y: -18 z: 340, gripper: close, black-cup x: -11 y: -29 z: 0 , green-circle x: 0 y: -18 z: 340 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* go above the other element * from (0; -18; 640) * to (-11; -29; 300)
take the green-circle and put it inside the black cup
table([ eof x: -11 y: -29 z: 300, gripper: close, black-cup x: -11 y: -29 z: 0 , green-circle x: -11 y: -29 z: 300 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -11 y: -29 z: 300, gripper: open, black-cup x: -11 y: -29 z: 0 , green-circle x: -11 y: -29 z: 0 , green-rectangle x: 51 y: -14 z: 80 , grey-rectangle x: -20 y: -56 z: 80 , red-rectangle x: 56 y: 37 z: 80 , red-triangle x: 56 y: 33 z: 40])
* go home * from (-11; -29; 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: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: -20 y: 43 z: 80 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 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: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: -20 y: 43 z: 80 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 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: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: -20 y: 43 z: 80 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 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: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: -20 y: 43 z: 80 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 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: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: -20 y: 43 z: 380 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 z: 40])
* go above the other element * from (-20; 43; 680) * to (30; -10; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 30 y: -10 z: 300, gripper: close, black-cup x: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: 30 y: -10 z: 300 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 30 y: -10 z: 300, gripper: open, black-cup x: 30 y: -10 z: 0 , green-circle x: 36 y: -10 z: 40 , green-rectangle x: 30 y: -10 z: 0 , grey-rectangle x: -26 y: -15 z: 80 , red-rectangle x: 49 y: 39 z: 80 , red-triangle x: 30 y: 0 z: 40])
* go home * from (30; -10; 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: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: 37 y: 43 z: 80 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* go above the element to pick * from (380; 0; 620) * to (37; 43; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 43 z: 140, gripper: open, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: 37 y: 43 z: 80 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* go close to it * from(37; 43; 140)* to (37; 43; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 43 z: 70, gripper: open, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: 37 y: 43 z: 80 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 43 z: 70, gripper: close, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: 37 y: 43 z: 80 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* move up * from (37; 43; 70) * to (37; 43; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 43 z: 380, gripper: close, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: 37 y: 43 z: 380 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* go above the other element * from (37; 43; 680) * to (-8; 2; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -8 y: 2 z: 300, gripper: close, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: -8 y: 2 z: 300 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -8 y: 2 z: 300, gripper: open, black-cup x: -8 y: 2 z: 0 , green-circle x: 1 y: -27 z: 40 , green-rectangle x: 42 y: -13 z: 80 , grey-rectangle x: -8 y: 2 z: 0 , red-rectangle x: 42 y: -28 z: 80 , red-triangle x: 15 y: -31 z: 40])
* go home * from (-8; 2; 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: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: -40 y: -56 z: 80 , red-triangle x: -11 y: -5 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-40; -56; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: -56 z: 140, gripper: open, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: -40 y: -56 z: 80 , red-triangle x: -11 y: -5 z: 40])
* go close to it * from(-40; -56; 140)* to (-40; -56; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: -56 z: 70, gripper: open, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: -40 y: -56 z: 80 , red-triangle x: -11 y: -5 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: -56 z: 70, gripper: close, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: -40 y: -56 z: 80 , red-triangle x: -11 y: -5 z: 40])
* move up * from (-40; -56; 70) * to (-40; -56; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -40 y: -56 z: 380, gripper: close, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: -40 y: -56 z: 380 , red-triangle x: -11 y: -5 z: 40])
* go above the other element * from (-40; -56; 680) * to (29; 17; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 29 y: 17 z: 300, gripper: close, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: 29 y: 17 z: 300 , red-triangle x: -11 y: -5 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 29 y: 17 z: 300, gripper: open, black-cup x: 29 y: 17 z: 0 , green-circle x: 26 y: 15 z: 40 , green-rectangle x: 5 y: -55 z: 80 , grey-rectangle x: -21 y: 42 z: 80 , red-rectangle x: 29 y: 17 z: 0 , red-triangle x: -11 y: -5 z: 40])
* go home * from (29; 17; 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: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 38 y: -34 z: 40])
* go above the element to pick * from (380; 0; 620) * to (38; -34; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -34 z: 100, gripper: open, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 38 y: -34 z: 40])
* go close to it * from(38; -34; 100)* to (38; -34; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -34 z: 30, gripper: open, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 38 y: -34 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -34 z: 30, gripper: close, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 38 y: -34 z: 40])
* move up * from (38; -34; 30) * to (38; -34; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -34 z: 340, gripper: close, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 38 y: -34 z: 340])
* go above the other element * from (38; -34; 640) * to (42; -13; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 42 y: -13 z: 300, gripper: close, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 42 y: -13 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 42 y: -13 z: 300, gripper: open, black-cup x: 42 y: -13 z: 0 , green-circle x: -38 y: -59 z: 40 , green-rectangle x: -53 y: 6 z: 80 , grey-rectangle x: -39 y: -45 z: 80 , red-rectangle x: -8 y: -8 z: 80 , red-triangle x: 42 y: -13 z: 0])
* go home * from (42; -13; 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: 34 y: 38 z: 0 , green-circle x: 6 y: 59 z: 40 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* go above the element to pick * from (380; 0; 620) * to (6; 59; 100)
take the green-circle and put it inside the black cup
table([ eof x: 6 y: 59 z: 100, gripper: open, black-cup x: 34 y: 38 z: 0 , green-circle x: 6 y: 59 z: 40 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* go close to it * from(6; 59; 100)* to (6; 59; 30)
take the green-circle and put it inside the black cup
table([ eof x: 6 y: 59 z: 30, gripper: open, black-cup x: 34 y: 38 z: 0 , green-circle x: 6 y: 59 z: 40 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 6 y: 59 z: 30, gripper: close, black-cup x: 34 y: 38 z: 0 , green-circle x: 6 y: 59 z: 40 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* move up * from (6; 59; 30) * to (6; 59; 340)
take the green-circle and put it inside the black cup
table([ eof x: 6 y: 59 z: 340, gripper: close, black-cup x: 34 y: 38 z: 0 , green-circle x: 6 y: 59 z: 340 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* go above the other element * from (6; 59; 640) * to (34; 38; 300)
take the green-circle and put it inside the black cup
table([ eof x: 34 y: 38 z: 300, gripper: close, black-cup x: 34 y: 38 z: 0 , green-circle x: 34 y: 38 z: 300 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 34 y: 38 z: 300, gripper: open, black-cup x: 34 y: 38 z: 0 , green-circle x: 34 y: 38 z: 0 , green-rectangle x: 59 y: 54 z: 80 , grey-rectangle x: 0 y: -30 z: 80 , red-rectangle x: -6 y: -25 z: 80 , red-triangle x: -5 y: -13 z: 40])
* go home * from (34; 38; 300) * to (380; 0; 620)
take the green-circle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: 39 y: -55 z: 80 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (39; -55; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 39 y: -55 z: 140, gripper: open, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: 39 y: -55 z: 80 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* go close to it * from(39; -55; 140)* to (39; -55; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 39 y: -55 z: 70, gripper: open, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: 39 y: -55 z: 80 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 39 y: -55 z: 70, gripper: close, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: 39 y: -55 z: 80 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* move up * from (39; -55; 70) * to (39; -55; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 39 y: -55 z: 380, gripper: close, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: 39 y: -55 z: 380 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* go above the other element * from (39; -55; 680) * to (-46; -14; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -46 y: -14 z: 300, gripper: close, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: -46 y: -14 z: 300 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -46 y: -14 z: 300, gripper: open, black-cup x: -46 y: -14 z: 0 , green-circle x: 23 y: -35 z: 40 , green-rectangle x: -46 y: -14 z: 0 , grey-rectangle x: -16 y: 19 z: 80 , red-rectangle x: -46 y: 23 z: 80 , red-triangle x: -35 y: 22 z: 40])
* go home * from (-46; -14; 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: -29 y: -47 z: 0 , green-circle x: -54 y: -13 z: 40 , green-rectangle x: -28 y: 53 z: 80 , grey-rectangle x: -17 y: 20 z: 80 , red-rectangle x: 58 y: -13 z: 80 , red-triangle x: 8 y: -51 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-17; 20; 140)
take the grey-rectangle and put it inside the black cup