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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5 values
table([ eof x: -49 y: -20 z: 300, gripper: open, black-cup x: -49 y: -20 z: 0 , green-circle x: -40 y: -30 z: 40 , green-rectangle x: 58 y: -11 z: 80 , grey-rectangle x: -49 y: -20 z: 0 , red-rectangle x: 41 y: -47 z: 80 , red-triangle x: 0 y: -48 z: 40])
* go home * from (-49; -20; 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: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 43 y: -14 z: 80 , red-triangle x: 24 y: 41 z: 40])
* go above the element to pick * from (380; 0; 620) * to (43; -14; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 43 y: -14 z: 140, gripper: open, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 43 y: -14 z: 80 , red-triangle x: 24 y: 41 z: 40])
* go close to it * from(43; -14; 140)* to (43; -14; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 43 y: -14 z: 70, gripper: open, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 43 y: -14 z: 80 , red-triangle x: 24 y: 41 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 43 y: -14 z: 70, gripper: close, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 43 y: -14 z: 80 , red-triangle x: 24 y: 41 z: 40])
* move up * from (43; -14; 70) * to (43; -14; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 43 y: -14 z: 380, gripper: close, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 43 y: -14 z: 380 , red-triangle x: 24 y: 41 z: 40])
* go above the other element * from (43; -14; 680) * to (31; 29; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 31 y: 29 z: 300, gripper: close, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 31 y: 29 z: 300 , red-triangle x: 24 y: 41 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 31 y: 29 z: 300, gripper: open, black-cup x: 31 y: 29 z: 0 , green-circle x: 57 y: -43 z: 40 , green-rectangle x: 11 y: -42 z: 80 , grey-rectangle x: 36 y: 5 z: 80 , red-rectangle x: 31 y: 29 z: 0 , red-triangle x: 24 y: 41 z: 40])
* go home * from (31; 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: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: -23 y: 7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-23; 7; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -23 y: 7 z: 100, gripper: open, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: -23 y: 7 z: 40])
* go close to it * from(-23; 7; 100)* to (-23; 7; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -23 y: 7 z: 30, gripper: open, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: -23 y: 7 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -23 y: 7 z: 30, gripper: close, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: -23 y: 7 z: 40])
* move up * from (-23; 7; 30) * to (-23; 7; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -23 y: 7 z: 340, gripper: close, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: -23 y: 7 z: 340])
* go above the other element * from (-23; 7; 640) * to (49; -7; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 49 y: -7 z: 300, gripper: close, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: 49 y: -7 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 49 y: -7 z: 300, gripper: open, black-cup x: 49 y: -7 z: 0 , green-circle x: 34 y: -5 z: 40 , green-rectangle x: 21 y: -9 z: 80 , grey-rectangle x: 50 y: 0 z: 80 , red-rectangle x: 20 y: -48 z: 80 , red-triangle x: 49 y: -7 z: 0])
* go home * from (49; -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: 30 y: -52 z: 0 , green-circle x: 48 y: 13 z: 40 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* go above the element to pick * from (380; 0; 620) * to (48; 13; 100)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: 13 z: 100, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 48 y: 13 z: 40 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* go close to it * from(48; 13; 100)* to (48; 13; 30)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: 13 z: 30, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 48 y: 13 z: 40 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 48 y: 13 z: 30, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 48 y: 13 z: 40 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* move up * from (48; 13; 30) * to (48; 13; 340)
take the green-circle and put it inside the black cup
table([ eof x: 48 y: 13 z: 340, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 48 y: 13 z: 340 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* go above the other element * from (48; 13; 640) * to (30; -52; 300)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -52 z: 300, gripper: close, black-cup x: 30 y: -52 z: 0 , green-circle x: 30 y: -52 z: 300 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -52 z: 300, gripper: open, black-cup x: 30 y: -52 z: 0 , green-circle x: 30 y: -52 z: 0 , green-rectangle x: 18 y: 44 z: 80 , grey-rectangle x: 42 y: 34 z: 80 , red-rectangle x: 23 y: 4 z: 80 , red-triangle x: 43 y: -11 z: 40])
* go home * from (30; -52; 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: -42 y: 13 z: 0 , green-circle x: -20 y: 0 z: 40 , green-rectangle x: -29 y: -46 z: 80 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-29; -46; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -29 y: -46 z: 140, gripper: open, black-cup x: -42 y: 13 z: 0 , green-circle x: -20 y: 0 z: 40 , green-rectangle x: -29 y: -46 z: 80 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* go close to it * from(-29; -46; 140)* to (-29; -46; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -29 y: -46 z: 70, gripper: open, black-cup x: -42 y: 13 z: 0 , green-circle x: -20 y: 0 z: 40 , green-rectangle x: -29 y: -46 z: 80 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -29 y: -46 z: 70, gripper: close, black-cup x: -42 y: 13 z: 0 , green-circle x: -20 y: 0 z: 40 , green-rectangle x: -29 y: -46 z: 80 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* move up * from (-29; -46; 70) * to (-29; -46; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -29 y: -46 z: 380, gripper: close, black-cup x: -42 y: 13 z: 0 , green-circle x: -20 y: 0 z: 40 , green-rectangle x: -29 y: -46 z: 380 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* go above the other element * from (-29; -46; 680) * to (-42; 13; 300)
take the green-rectangle 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: -20 y: 0 z: 40 , green-rectangle x: -42 y: 13 z: 300 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* leave the element * open gripper
take the green-rectangle 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: -20 y: 0 z: 40 , green-rectangle x: -42 y: 13 z: 0 , grey-rectangle x: -53 y: 59 z: 80 , red-rectangle x: 3 y: 37 z: 80 , red-triangle x: 38 y: -32 z: 40])
* go home * from (-42; 13; 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: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 47 y: 14 z: 80 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* go above the element to pick * from (380; 0; 620) * to (47; 14; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 47 y: 14 z: 140, gripper: open, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 47 y: 14 z: 80 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* go close to it * from(47; 14; 140)* to (47; 14; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 47 y: 14 z: 70, gripper: open, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 47 y: 14 z: 80 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 47 y: 14 z: 70, gripper: close, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 47 y: 14 z: 80 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* move up * from (47; 14; 70) * to (47; 14; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 47 y: 14 z: 380, gripper: close, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: 47 y: 14 z: 380 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* go above the other element * from (47; 14; 680) * to (-54; -35; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -54 y: -35 z: 300, gripper: close, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: -54 y: -35 z: 300 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -54 y: -35 z: 300, gripper: open, black-cup x: -54 y: -35 z: 0 , green-circle x: -13 y: -48 z: 40 , green-rectangle x: 6 y: -35 z: 80 , grey-rectangle x: -54 y: -35 z: 0 , red-rectangle x: -39 y: 56 z: 80 , red-triangle x: -15 y: 39 z: 40])
* go home * from (-54; -35; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 40 y: 30 z: 80 , red-triangle x: -21 y: -14 z: 40])
* go above the element to pick * from (380; 0; 620) * to (40; 30; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 40 y: 30 z: 140, gripper: open, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 40 y: 30 z: 80 , red-triangle x: -21 y: -14 z: 40])
* go close to it * from(40; 30; 140)* to (40; 30; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 40 y: 30 z: 70, gripper: open, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 40 y: 30 z: 80 , red-triangle x: -21 y: -14 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 40 y: 30 z: 70, gripper: close, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 40 y: 30 z: 80 , red-triangle x: -21 y: -14 z: 40])
* move up * from (40; 30; 70) * to (40; 30; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 40 y: 30 z: 380, gripper: close, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 40 y: 30 z: 380 , red-triangle x: -21 y: -14 z: 40])
* go above the other element * from (40; 30; 680) * to (38; 16; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: 16 z: 300, gripper: close, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 38 y: 16 z: 300 , red-triangle x: -21 y: -14 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: 16 z: 300, gripper: open, black-cup x: 38 y: 16 z: 0 , green-circle x: 52 y: 0 z: 40 , green-rectangle x: 28 y: 21 z: 80 , grey-rectangle x: 40 y: 38 z: 80 , red-rectangle x: 38 y: 16 z: 0 , red-triangle x: -21 y: -14 z: 40])
* go home * from (38; 16; 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: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -22 y: -11 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-22; -11; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -22 y: -11 z: 100, gripper: open, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -22 y: -11 z: 40])
* go close to it * from(-22; -11; 100)* to (-22; -11; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -22 y: -11 z: 30, gripper: open, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -22 y: -11 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -22 y: -11 z: 30, gripper: close, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -22 y: -11 z: 40])
* move up * from (-22; -11; 30) * to (-22; -11; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -22 y: -11 z: 340, gripper: close, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -22 y: -11 z: 340])
* go above the other element * from (-22; -11; 640) * to (-7; 3; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -7 y: 3 z: 300, gripper: close, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -7 y: 3 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -7 y: 3 z: 300, gripper: open, black-cup x: -7 y: 3 z: 0 , green-circle x: 20 y: 31 z: 40 , green-rectangle x: 40 y: -54 z: 80 , grey-rectangle x: 8 y: -5 z: 80 , red-rectangle x: -22 y: 28 z: 80 , red-triangle x: -7 y: 3 z: 0])
* go home * from (-7; 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: -24 y: 2 z: 0 , green-circle x: -3 y: 40 z: 40 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-3; 40; 100)
take the green-circle and put it inside the black cup
table([ eof x: -3 y: 40 z: 100, gripper: open, black-cup x: -24 y: 2 z: 0 , green-circle x: -3 y: 40 z: 40 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* go close to it * from(-3; 40; 100)* to (-3; 40; 30)
take the green-circle and put it inside the black cup
table([ eof x: -3 y: 40 z: 30, gripper: open, black-cup x: -24 y: 2 z: 0 , green-circle x: -3 y: 40 z: 40 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -3 y: 40 z: 30, gripper: close, black-cup x: -24 y: 2 z: 0 , green-circle x: -3 y: 40 z: 40 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* move up * from (-3; 40; 30) * to (-3; 40; 340)
take the green-circle and put it inside the black cup
table([ eof x: -3 y: 40 z: 340, gripper: close, black-cup x: -24 y: 2 z: 0 , green-circle x: -3 y: 40 z: 340 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* go above the other element * from (-3; 40; 640) * to (-24; 2; 300)
take the green-circle and put it inside the black cup
table([ eof x: -24 y: 2 z: 300, gripper: close, black-cup x: -24 y: 2 z: 0 , green-circle x: -24 y: 2 z: 300 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -24 y: 2 z: 300, gripper: open, black-cup x: -24 y: 2 z: 0 , green-circle x: -24 y: 2 z: 0 , green-rectangle x: -27 y: -25 z: 80 , grey-rectangle x: 19 y: 4 z: 80 , red-rectangle x: 44 y: 17 z: 80 , red-triangle x: 27 y: -16 z: 40])
* go home * from (-24; 2; 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: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 14 y: 53 z: 80 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* go above the element to pick * from (380; 0; 620) * to (14; 53; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 14 y: 53 z: 140, gripper: open, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 14 y: 53 z: 80 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* go close to it * from(14; 53; 140)* to (14; 53; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 14 y: 53 z: 70, gripper: open, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 14 y: 53 z: 80 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 14 y: 53 z: 70, gripper: close, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 14 y: 53 z: 80 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* move up * from (14; 53; 70) * to (14; 53; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 14 y: 53 z: 380, gripper: close, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 14 y: 53 z: 380 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* go above the other element * from (14; 53; 680) * to (31; -46; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 31 y: -46 z: 300, gripper: close, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 31 y: -46 z: 300 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 31 y: -46 z: 300, gripper: open, black-cup x: 31 y: -46 z: 0 , green-circle x: 27 y: -36 z: 40 , green-rectangle x: 31 y: -46 z: 0 , grey-rectangle x: 21 y: 40 z: 80 , red-rectangle x: -54 y: 51 z: 80 , red-triangle x: 41 y: 32 z: 40])
* go home * from (31; -46; 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: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: 32 y: 49 z: 80 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* go above the element to pick * from (380; 0; 620) * to (32; 49; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 32 y: 49 z: 140, gripper: open, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: 32 y: 49 z: 80 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* go close to it * from(32; 49; 140)* to (32; 49; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 32 y: 49 z: 70, gripper: open, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: 32 y: 49 z: 80 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 32 y: 49 z: 70, gripper: close, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: 32 y: 49 z: 80 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* move up * from (32; 49; 70) * to (32; 49; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 32 y: 49 z: 380, gripper: close, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: 32 y: 49 z: 380 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* go above the other element * from (32; 49; 680) * to (-33; 4; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -33 y: 4 z: 300, gripper: close, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: -33 y: 4 z: 300 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -33 y: 4 z: 300, gripper: open, black-cup x: -33 y: 4 z: 0 , green-circle x: -4 y: -19 z: 40 , green-rectangle x: 34 y: -21 z: 80 , grey-rectangle x: -33 y: 4 z: 0 , red-rectangle x: 25 y: 29 z: 80 , red-triangle x: 49 y: 39 z: 40])
* go home * from (-33; 4; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: 4 y: 43 z: 80 , red-triangle x: -26 y: -6 z: 40])
* go above the element to pick * from (380; 0; 620) * to (4; 43; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 4 y: 43 z: 140, gripper: open, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: 4 y: 43 z: 80 , red-triangle x: -26 y: -6 z: 40])
* go close to it * from(4; 43; 140)* to (4; 43; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 4 y: 43 z: 70, gripper: open, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: 4 y: 43 z: 80 , red-triangle x: -26 y: -6 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 4 y: 43 z: 70, gripper: close, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: 4 y: 43 z: 80 , red-triangle x: -26 y: -6 z: 40])
* move up * from (4; 43; 70) * to (4; 43; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 4 y: 43 z: 380, gripper: close, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: 4 y: 43 z: 380 , red-triangle x: -26 y: -6 z: 40])
* go above the other element * from (4; 43; 680) * to (-24; -58; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -24 y: -58 z: 300, gripper: close, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: -24 y: -58 z: 300 , red-triangle x: -26 y: -6 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -24 y: -58 z: 300, gripper: open, black-cup x: -24 y: -58 z: 0 , green-circle x: 18 y: 43 z: 40 , green-rectangle x: -39 y: -8 z: 80 , grey-rectangle x: 52 y: -12 z: 80 , red-rectangle x: -24 y: -58 z: 0 , red-triangle x: -26 y: -6 z: 40])
* go home * from (-24; -58; 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: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: -4 y: 52 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-4; 52; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: 52 z: 100, gripper: open, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: -4 y: 52 z: 40])
* go close to it * from(-4; 52; 100)* to (-4; 52; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: 52 z: 30, gripper: open, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: -4 y: 52 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: 52 z: 30, gripper: close, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: -4 y: 52 z: 40])
* move up * from (-4; 52; 30) * to (-4; 52; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: 52 z: 340, gripper: close, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: -4 y: 52 z: 340])
* go above the other element * from (-4; 52; 640) * to (23; -28; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -28 z: 300, gripper: close, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: 23 y: -28 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 23 y: -28 z: 300, gripper: open, black-cup x: 23 y: -28 z: 0 , green-circle x: -22 y: 39 z: 40 , green-rectangle x: -43 y: -29 z: 80 , grey-rectangle x: -45 y: -21 z: 80 , red-rectangle x: -47 y: 30 z: 80 , red-triangle x: 23 y: -28 z: 0])
* go home * from (23; -28; 300) * to (380; 0; 620)
take the red-triangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -46 y: -28 z: 0 , green-circle x: -9 y: -1 z: 40 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-9; -1; 100)
take the green-circle and put it inside the black cup
table([ eof x: -9 y: -1 z: 100, gripper: open, black-cup x: -46 y: -28 z: 0 , green-circle x: -9 y: -1 z: 40 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* go close to it * from(-9; -1; 100)* to (-9; -1; 30)
take the green-circle and put it inside the black cup
table([ eof x: -9 y: -1 z: 30, gripper: open, black-cup x: -46 y: -28 z: 0 , green-circle x: -9 y: -1 z: 40 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -9 y: -1 z: 30, gripper: close, black-cup x: -46 y: -28 z: 0 , green-circle x: -9 y: -1 z: 40 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* move up * from (-9; -1; 30) * to (-9; -1; 340)
take the green-circle and put it inside the black cup
table([ eof x: -9 y: -1 z: 340, gripper: close, black-cup x: -46 y: -28 z: 0 , green-circle x: -9 y: -1 z: 340 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* go above the other element * from (-9; -1; 640) * to (-46; -28; 300)
take the green-circle and put it inside the black cup
table([ eof x: -46 y: -28 z: 300, gripper: close, black-cup x: -46 y: -28 z: 0 , green-circle x: -46 y: -28 z: 300 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -46 y: -28 z: 300, gripper: open, black-cup x: -46 y: -28 z: 0 , green-circle x: -46 y: -28 z: 0 , green-rectangle x: -4 y: 51 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 52 y: 37 z: 80 , red-triangle x: 26 y: 45 z: 40])
* go home * from (-46; -28; 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: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -54 y: 56 z: 80 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-54; 56; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -54 y: 56 z: 140, gripper: open, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -54 y: 56 z: 80 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* go close to it * from(-54; 56; 140)* to (-54; 56; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -54 y: 56 z: 70, gripper: open, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -54 y: 56 z: 80 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -54 y: 56 z: 70, gripper: close, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -54 y: 56 z: 80 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* move up * from (-54; 56; 70) * to (-54; 56; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -54 y: 56 z: 380, gripper: close, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -54 y: 56 z: 380 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* go above the other element * from (-54; 56; 680) * to (-24; -10; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 300, gripper: close, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -24 y: -10 z: 300 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -24 y: -10 z: 300, gripper: open, black-cup x: -24 y: -10 z: 0 , green-circle x: -49 y: -47 z: 40 , green-rectangle x: -24 y: -10 z: 0 , grey-rectangle x: 44 y: 39 z: 80 , red-rectangle x: -14 y: 42 z: 80 , red-triangle x: 30 y: -40 z: 40])
* go home * from (-24; -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: 16 y: 22 z: 0 , green-circle x: -9 y: 52 z: 40 , green-rectangle x: -47 y: 18 z: 80 , grey-rectangle x: -44 y: 2 z: 80 , red-rectangle x: -6 y: 48 z: 80 , red-triangle x: -30 y: -54 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-44; 2; 140)
take the grey-rectangle and put it inside the black cup