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: -33 y: -46 z: 30, gripper: open, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -33 y: -46 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -46 z: 30, gripper: close, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -33 y: -46 z: 40])
* move up * from (-33; -46; 30) * to (-33; -46; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -33 y: -46 z: 340, gripper: close, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -33 y: -46 z: 340])
* go above the other element * from (-33; -46; 640) * to (-58; -20; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -58 y: -20 z: 300, gripper: close, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -58 y: -20 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -58 y: -20 z: 300, gripper: open, black-cup x: -58 y: -20 z: 0 , green-circle x: 40 y: 16 z: 40 , green-rectangle x: -16 y: 26 z: 80 , grey-rectangle x: 0 y: 40 z: 80 , red-rectangle x: -13 y: 25 z: 80 , red-triangle x: -58 y: -20 z: 0])
* go home * from (-58; -20; 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: -40 y: -5 z: 0 , green-circle x: -33 y: -35 z: 40 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-33; -35; 100)
take the green-circle and put it inside the black cup
table([ eof x: -33 y: -35 z: 100, gripper: open, black-cup x: -40 y: -5 z: 0 , green-circle x: -33 y: -35 z: 40 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* go close to it * from(-33; -35; 100)* to (-33; -35; 30)
take the green-circle and put it inside the black cup
table([ eof x: -33 y: -35 z: 30, gripper: open, black-cup x: -40 y: -5 z: 0 , green-circle x: -33 y: -35 z: 40 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -33 y: -35 z: 30, gripper: close, black-cup x: -40 y: -5 z: 0 , green-circle x: -33 y: -35 z: 40 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* move up * from (-33; -35; 30) * to (-33; -35; 340)
take the green-circle and put it inside the black cup
table([ eof x: -33 y: -35 z: 340, gripper: close, black-cup x: -40 y: -5 z: 0 , green-circle x: -33 y: -35 z: 340 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* go above the other element * from (-33; -35; 640) * to (-40; -5; 300)
take the green-circle and put it inside the black cup
table([ eof x: -40 y: -5 z: 300, gripper: close, black-cup x: -40 y: -5 z: 0 , green-circle x: -40 y: -5 z: 300 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -40 y: -5 z: 300, gripper: open, black-cup x: -40 y: -5 z: 0 , green-circle x: -40 y: -5 z: 0 , green-rectangle x: -40 y: -9 z: 80 , grey-rectangle x: -54 y: 47 z: 80 , red-rectangle x: -6 y: -49 z: 80 , red-triangle x: -33 y: 31 z: 40])
* go home * from (-40; -5; 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: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 0 y: 54 z: 80 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* go above the element to pick * from (380; 0; 620) * to (0; 54; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 54 z: 140, gripper: open, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 0 y: 54 z: 80 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* go close to it * from(0; 54; 140)* to (0; 54; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 54 z: 70, gripper: open, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 0 y: 54 z: 80 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 54 z: 70, gripper: close, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 0 y: 54 z: 80 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* move up * from (0; 54; 70) * to (0; 54; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 0 y: 54 z: 380, gripper: close, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 0 y: 54 z: 380 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* go above the other element * from (0; 54; 680) * to (55; 56; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 55 y: 56 z: 300, gripper: close, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 55 y: 56 z: 300 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 55 y: 56 z: 300, gripper: open, black-cup x: 55 y: 56 z: 0 , green-circle x: 54 y: -47 z: 40 , green-rectangle x: 55 y: 56 z: 0 , grey-rectangle x: 35 y: -37 z: 80 , red-rectangle x: -1 y: 33 z: 80 , red-triangle x: 44 y: 14 z: 40])
* go home * from (55; 56; 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: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -14 y: 51 z: 80 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-14; 51; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -14 y: 51 z: 140, gripper: open, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -14 y: 51 z: 80 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* go close to it * from(-14; 51; 140)* to (-14; 51; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -14 y: 51 z: 70, gripper: open, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -14 y: 51 z: 80 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -14 y: 51 z: 70, gripper: close, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -14 y: 51 z: 80 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* move up * from (-14; 51; 70) * to (-14; 51; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -14 y: 51 z: 380, gripper: close, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -14 y: 51 z: 380 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* go above the other element * from (-14; 51; 680) * to (-1; -30; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -1 y: -30 z: 300, gripper: close, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -1 y: -30 z: 300 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -1 y: -30 z: 300, gripper: open, black-cup x: -1 y: -30 z: 0 , green-circle x: 47 y: -16 z: 40 , green-rectangle x: -16 y: -43 z: 80 , grey-rectangle x: -1 y: -30 z: 0 , red-rectangle x: 9 y: -48 z: 80 , red-triangle x: -2 y: -23 z: 40])
* go home * from (-1; -30; 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: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: -22 y: 22 z: 80 , red-triangle x: -56 y: -22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-22; 22; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -22 y: 22 z: 140, gripper: open, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: -22 y: 22 z: 80 , red-triangle x: -56 y: -22 z: 40])
* go close to it * from(-22; 22; 140)* to (-22; 22; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -22 y: 22 z: 70, gripper: open, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: -22 y: 22 z: 80 , red-triangle x: -56 y: -22 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -22 y: 22 z: 70, gripper: close, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: -22 y: 22 z: 80 , red-triangle x: -56 y: -22 z: 40])
* move up * from (-22; 22; 70) * to (-22; 22; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -22 y: 22 z: 380, gripper: close, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: -22 y: 22 z: 380 , red-triangle x: -56 y: -22 z: 40])
* go above the other element * from (-22; 22; 680) * to (22; 0; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: 0 z: 300, gripper: close, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: 22 y: 0 z: 300 , red-triangle x: -56 y: -22 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 22 y: 0 z: 300, gripper: open, black-cup x: 22 y: 0 z: 0 , green-circle x: 32 y: 58 z: 40 , green-rectangle x: 16 y: 6 z: 80 , grey-rectangle x: 22 y: -6 z: 80 , red-rectangle x: 22 y: 0 z: 0 , red-triangle x: -56 y: -22 z: 40])
* go home * from (22; 0; 300) * to (380; 0; 620)
take the red-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -43 y: -46 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-43; -46; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -46 z: 100, gripper: open, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -43 y: -46 z: 40])
* go close to it * from(-43; -46; 100)* to (-43; -46; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -46 z: 30, gripper: open, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -43 y: -46 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -46 z: 30, gripper: close, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -43 y: -46 z: 40])
* move up * from (-43; -46; 30) * to (-43; -46; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -43 y: -46 z: 340, gripper: close, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -43 y: -46 z: 340])
* go above the other element * from (-43; -46; 640) * to (-40; -42; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -40 y: -42 z: 300, gripper: close, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -40 y: -42 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -40 y: -42 z: 300, gripper: open, black-cup x: -40 y: -42 z: 0 , green-circle x: 50 y: -36 z: 40 , green-rectangle x: 8 y: -41 z: 80 , grey-rectangle x: 58 y: 1 z: 80 , red-rectangle x: -38 y: -20 z: 80 , red-triangle x: -40 y: -42 z: 0])
* go home * from (-40; -42; 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: -29 y: 34 z: 0 , green-circle x: 40 y: 23 z: 40 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* go above the element to pick * from (380; 0; 620) * to (40; 23; 100)
take the green-circle and put it inside the black cup
table([ eof x: 40 y: 23 z: 100, gripper: open, black-cup x: -29 y: 34 z: 0 , green-circle x: 40 y: 23 z: 40 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* go close to it * from(40; 23; 100)* to (40; 23; 30)
take the green-circle and put it inside the black cup
table([ eof x: 40 y: 23 z: 30, gripper: open, black-cup x: -29 y: 34 z: 0 , green-circle x: 40 y: 23 z: 40 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 40 y: 23 z: 30, gripper: close, black-cup x: -29 y: 34 z: 0 , green-circle x: 40 y: 23 z: 40 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* move up * from (40; 23; 30) * to (40; 23; 340)
take the green-circle and put it inside the black cup
table([ eof x: 40 y: 23 z: 340, gripper: close, black-cup x: -29 y: 34 z: 0 , green-circle x: 40 y: 23 z: 340 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* go above the other element * from (40; 23; 640) * to (-29; 34; 300)
take the green-circle and put it inside the black cup
table([ eof x: -29 y: 34 z: 300, gripper: close, black-cup x: -29 y: 34 z: 0 , green-circle x: -29 y: 34 z: 300 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -29 y: 34 z: 300, gripper: open, black-cup x: -29 y: 34 z: 0 , green-circle x: -29 y: 34 z: 0 , green-rectangle x: 24 y: 50 z: 80 , grey-rectangle x: -27 y: 21 z: 80 , red-rectangle x: 40 y: -23 z: 80 , red-triangle x: 26 y: -10 z: 40])
* go home * from (-29; 34; 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: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -4 y: 35 z: 80 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-4; 35; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -4 y: 35 z: 140, gripper: open, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -4 y: 35 z: 80 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* go close to it * from(-4; 35; 140)* to (-4; 35; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -4 y: 35 z: 70, gripper: open, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -4 y: 35 z: 80 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -4 y: 35 z: 70, gripper: close, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -4 y: 35 z: 80 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* move up * from (-4; 35; 70) * to (-4; 35; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -4 y: 35 z: 380, gripper: close, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -4 y: 35 z: 380 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* go above the other element * from (-4; 35; 680) * to (-28; 59; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -28 y: 59 z: 300, gripper: close, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -28 y: 59 z: 300 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -28 y: 59 z: 300, gripper: open, black-cup x: -28 y: 59 z: 0 , green-circle x: -44 y: -37 z: 40 , green-rectangle x: -28 y: 59 z: 0 , grey-rectangle x: -14 y: -9 z: 80 , red-rectangle x: -34 y: -54 z: 80 , red-triangle x: 56 y: 31 z: 40])
* go home * from (-28; 59; 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: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 57 y: -11 z: 80 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* go above the element to pick * from (380; 0; 620) * to (57; -11; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: -11 z: 140, gripper: open, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 57 y: -11 z: 80 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* go close to it * from(57; -11; 140)* to (57; -11; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: -11 z: 70, gripper: open, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 57 y: -11 z: 80 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: -11 z: 70, gripper: close, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 57 y: -11 z: 80 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* move up * from (57; -11; 70) * to (57; -11; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 57 y: -11 z: 380, gripper: close, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 57 y: -11 z: 380 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* go above the other element * from (57; -11; 680) * to (13; -34; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 13 y: -34 z: 300, gripper: close, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 13 y: -34 z: 300 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 13 y: -34 z: 300, gripper: open, black-cup x: 13 y: -34 z: 0 , green-circle x: 51 y: 29 z: 40 , green-rectangle x: 16 y: -4 z: 80 , grey-rectangle x: 13 y: -34 z: 0 , red-rectangle x: 39 y: 15 z: 80 , red-triangle x: 50 y: 8 z: 40])
* go home * from (13; -34; 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: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: 9 y: -10 z: 80 , red-triangle x: 36 y: -7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (9; -10; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -10 z: 140, gripper: open, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: 9 y: -10 z: 80 , red-triangle x: 36 y: -7 z: 40])
* go close to it * from(9; -10; 140)* to (9; -10; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -10 z: 70, gripper: open, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: 9 y: -10 z: 80 , red-triangle x: 36 y: -7 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -10 z: 70, gripper: close, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: 9 y: -10 z: 80 , red-triangle x: 36 y: -7 z: 40])
* move up * from (9; -10; 70) * to (9; -10; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 9 y: -10 z: 380, gripper: close, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: 9 y: -10 z: 380 , red-triangle x: 36 y: -7 z: 40])
* go above the other element * from (9; -10; 680) * to (-26; -34; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -26 y: -34 z: 300, gripper: close, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: -26 y: -34 z: 300 , red-triangle x: 36 y: -7 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -26 y: -34 z: 300, gripper: open, black-cup x: -26 y: -34 z: 0 , green-circle x: 15 y: -6 z: 40 , green-rectangle x: -41 y: -38 z: 80 , grey-rectangle x: -12 y: 43 z: 80 , red-rectangle x: -26 y: -34 z: 0 , red-triangle x: 36 y: -7 z: 40])
* go home * from (-26; -34; 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: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -18 y: -29 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-18; -29; 100)
take the red-triangle and put it inside the black cup
table([ eof x: -18 y: -29 z: 100, gripper: open, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -18 y: -29 z: 40])
* go close to it * from(-18; -29; 100)* to (-18; -29; 30)
take the red-triangle and put it inside the black cup
table([ eof x: -18 y: -29 z: 30, gripper: open, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -18 y: -29 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -18 y: -29 z: 30, gripper: close, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -18 y: -29 z: 40])
* move up * from (-18; -29; 30) * to (-18; -29; 340)
take the red-triangle and put it inside the black cup
table([ eof x: -18 y: -29 z: 340, gripper: close, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -18 y: -29 z: 340])
* go above the other element * from (-18; -29; 640) * to (-56; 52; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 52 z: 300, gripper: close, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -56 y: 52 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -56 y: 52 z: 300, gripper: open, black-cup x: -56 y: 52 z: 0 , green-circle x: -10 y: 59 z: 40 , green-rectangle x: -53 y: -30 z: 80 , grey-rectangle x: 43 y: 16 z: 80 , red-rectangle x: -30 y: -5 z: 80 , red-triangle x: -56 y: 52 z: 0])
* go home * from (-56; 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: -4 y: -27 z: 0 , green-circle x: -35 y: -51 z: 40 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-35; -51; 100)
take the green-circle and put it inside the black cup
table([ eof x: -35 y: -51 z: 100, gripper: open, black-cup x: -4 y: -27 z: 0 , green-circle x: -35 y: -51 z: 40 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* go close to it * from(-35; -51; 100)* to (-35; -51; 30)
take the green-circle and put it inside the black cup
table([ eof x: -35 y: -51 z: 30, gripper: open, black-cup x: -4 y: -27 z: 0 , green-circle x: -35 y: -51 z: 40 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -35 y: -51 z: 30, gripper: close, black-cup x: -4 y: -27 z: 0 , green-circle x: -35 y: -51 z: 40 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* move up * from (-35; -51; 30) * to (-35; -51; 340)
take the green-circle and put it inside the black cup
table([ eof x: -35 y: -51 z: 340, gripper: close, black-cup x: -4 y: -27 z: 0 , green-circle x: -35 y: -51 z: 340 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* go above the other element * from (-35; -51; 640) * to (-4; -27; 300)
take the green-circle and put it inside the black cup
table([ eof x: -4 y: -27 z: 300, gripper: close, black-cup x: -4 y: -27 z: 0 , green-circle x: -4 y: -27 z: 300 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -4 y: -27 z: 300, gripper: open, black-cup x: -4 y: -27 z: 0 , green-circle x: -4 y: -27 z: 0 , green-rectangle x: -26 y: 13 z: 80 , grey-rectangle x: -31 y: 59 z: 80 , red-rectangle x: 12 y: -6 z: 80 , red-triangle x: 34 y: -5 z: 40])
* go home * from (-4; -27; 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: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* go above the element to pick * from (380; 0; 620) * to (12; 56; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: 12 y: 56 z: 140, gripper: open, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* go close to it * from(12; 56; 140)* to (12; 56; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: 12 y: 56 z: 70, gripper: open, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 12 y: 56 z: 70, gripper: close, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* move up * from (12; 56; 70) * to (12; 56; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: 12 y: 56 z: 380, gripper: close, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 12 y: 56 z: 380 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* go above the other element * from (12; 56; 680) * to (33; -5; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 33 y: -5 z: 300, gripper: close, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 33 y: -5 z: 300 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 33 y: -5 z: 300, gripper: open, black-cup x: 33 y: -5 z: 0 , green-circle x: -39 y: -1 z: 40 , green-rectangle x: 33 y: -5 z: 0 , grey-rectangle x: -22 y: -48 z: 80 , red-rectangle x: -34 y: -2 z: 80 , red-triangle x: 5 y: -25 z: 40])
* go home * from (33; -5; 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: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: -47 y: 41 z: 80 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-47; 41; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: -47 y: 41 z: 140, gripper: open, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: -47 y: 41 z: 80 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* go close to it * from(-47; 41; 140)* to (-47; 41; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: -47 y: 41 z: 70, gripper: open, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: -47 y: 41 z: 80 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -47 y: 41 z: 70, gripper: close, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: -47 y: 41 z: 80 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* move up * from (-47; 41; 70) * to (-47; 41; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: -47 y: 41 z: 380, gripper: close, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: -47 y: 41 z: 380 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* go above the other element * from (-47; 41; 680) * to (23; 42; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: 23 y: 42 z: 300, gripper: close, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: 23 y: 42 z: 300 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 23 y: 42 z: 300, gripper: open, black-cup x: 23 y: 42 z: 0 , green-circle x: -26 y: 55 z: 40 , green-rectangle x: 16 y: -27 z: 80 , grey-rectangle x: 23 y: 42 z: 0 , red-rectangle x: -41 y: -55 z: 80 , red-triangle x: 23 y: -44 z: 40])
* go home * from (23; 42; 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: 28 y: 38 z: 0 , green-circle x: 56 y: 0 z: 40 , green-rectangle x: -31 y: -56 z: 80 , grey-rectangle x: -16 y: 20 z: 80 , red-rectangle x: -56 y: -52 z: 80 , red-triangle x: 31 y: -9 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-56; -52; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -56 y: -52 z: 140, gripper: open, black-cup x: 28 y: 38 z: 0 , green-circle x: 56 y: 0 z: 40 , green-rectangle x: -31 y: -56 z: 80 , grey-rectangle x: -16 y: 20 z: 80 , red-rectangle x: -56 y: -52 z: 80 , red-triangle x: 31 y: -9 z: 40])
* go close to it * from(-56; -52; 140)* to (-56; -52; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -56 y: -52 z: 70, gripper: open, black-cup x: 28 y: 38 z: 0 , green-circle x: 56 y: 0 z: 40 , green-rectangle x: -31 y: -56 z: 80 , grey-rectangle x: -16 y: 20 z: 80 , red-rectangle x: -56 y: -52 z: 80 , red-triangle x: 31 y: -9 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -56 y: -52 z: 70, gripper: close, black-cup x: 28 y: 38 z: 0 , green-circle x: 56 y: 0 z: 40 , green-rectangle x: -31 y: -56 z: 80 , grey-rectangle x: -16 y: 20 z: 80 , red-rectangle x: -56 y: -52 z: 80 , red-triangle x: 31 y: -9 z: 40])
* move up * from (-56; -52; 70) * to (-56; -52; 380)
take the red-rectangle and put it inside the black cup