Datasets:
marcomaccarini
/
ds_robot_21

Dataset card Data Studio Files
xet
Community
2
context
stringlengths
238
262
answer
stringlengths
27
73
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stringclasses
5 values
table([ eof x: -28 y: 13 z: 300, gripper: open, black-cup x: -28 y: 13 z: 0 , green-circle x: 54 y: 14 z: 40 , green-rectangle x: -25 y: -43 z: 80 , grey-rectangle x: -28 y: 13 z: 0 , red-rectangle x: -51 y: 19 z: 80 , red-triangle x: 55 y: 4 z: 40])
* go home * from (-28; 13; 300) * to (380; 0; 620)
take the grey-rectangle and put it inside the black cup
table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 54 y: 57 z: 80 , red-triangle x: 11 y: 7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (54; 57; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 57 z: 140, gripper: open, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 54 y: 57 z: 80 , red-triangle x: 11 y: 7 z: 40])
* go close to it * from(54; 57; 140)* to (54; 57; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 57 z: 70, gripper: open, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 54 y: 57 z: 80 , red-triangle x: 11 y: 7 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 57 z: 70, gripper: close, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 54 y: 57 z: 80 , red-triangle x: 11 y: 7 z: 40])
* move up * from (54; 57; 70) * to (54; 57; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 54 y: 57 z: 380, gripper: close, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 54 y: 57 z: 380 , red-triangle x: 11 y: 7 z: 40])
* go above the other element * from (54; 57; 680) * to (44; -8; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 44 y: -8 z: 300, gripper: close, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 44 y: -8 z: 300 , red-triangle x: 11 y: 7 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 44 y: -8 z: 300, gripper: open, black-cup x: 44 y: -8 z: 0 , green-circle x: 30 y: 15 z: 40 , green-rectangle x: -28 y: -48 z: 80 , grey-rectangle x: -23 y: -53 z: 80 , red-rectangle x: 44 y: -8 z: 0 , red-triangle x: 11 y: 7 z: 40])
* go home * from (44; -8; 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: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: 45 y: -11 z: 40])
* go above the element to pick * from (380; 0; 620) * to (45; -11; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -11 z: 100, gripper: open, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: 45 y: -11 z: 40])
* go close to it * from(45; -11; 100)* to (45; -11; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -11 z: 30, gripper: open, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: 45 y: -11 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -11 z: 30, gripper: close, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: 45 y: -11 z: 40])
* move up * from (45; -11; 30) * to (45; -11; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 45 y: -11 z: 340, gripper: close, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: 45 y: -11 z: 340])
* go above the other element * from (45; -11; 640) * to (-4; -18; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: -18 z: 300, gripper: close, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: -4 y: -18 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -4 y: -18 z: 300, gripper: open, black-cup x: -4 y: -18 z: 0 , green-circle x: -6 y: 47 z: 40 , green-rectangle x: -37 y: 46 z: 80 , grey-rectangle x: -19 y: -9 z: 80 , red-rectangle x: -1 y: -33 z: 80 , red-triangle x: -4 y: -18 z: 0])
* go home * from (-4; -18; 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: -26 y: -36 z: 0 , green-circle x: 30 y: -55 z: 40 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* go above the element to pick * from (380; 0; 620) * to (30; -55; 100)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -55 z: 100, gripper: open, black-cup x: -26 y: -36 z: 0 , green-circle x: 30 y: -55 z: 40 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* go close to it * from(30; -55; 100)* to (30; -55; 30)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -55 z: 30, gripper: open, black-cup x: -26 y: -36 z: 0 , green-circle x: 30 y: -55 z: 40 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -55 z: 30, gripper: close, black-cup x: -26 y: -36 z: 0 , green-circle x: 30 y: -55 z: 40 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* move up * from (30; -55; 30) * to (30; -55; 340)
take the green-circle and put it inside the black cup
table([ eof x: 30 y: -55 z: 340, gripper: close, black-cup x: -26 y: -36 z: 0 , green-circle x: 30 y: -55 z: 340 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* go above the other element * from (30; -55; 640) * to (-26; -36; 300)
take the green-circle and put it inside the black cup
table([ eof x: -26 y: -36 z: 300, gripper: close, black-cup x: -26 y: -36 z: 0 , green-circle x: -26 y: -36 z: 300 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -26 y: -36 z: 300, gripper: open, black-cup x: -26 y: -36 z: 0 , green-circle x: -26 y: -36 z: 0 , green-rectangle x: -47 y: 9 z: 80 , grey-rectangle x: -40 y: 0 z: 80 , red-rectangle x: -58 y: 22 z: 80 , red-triangle x: 25 y: 55 z: 40])
* go home * from (-26; -36; 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: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: -55 y: -5 z: 80 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-55; -5; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: -5 z: 140, gripper: open, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: -55 y: -5 z: 80 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* go close to it * from(-55; -5; 140)* to (-55; -5; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: -5 z: 70, gripper: open, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: -55 y: -5 z: 80 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: -5 z: 70, gripper: close, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: -55 y: -5 z: 80 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* move up * from (-55; -5; 70) * to (-55; -5; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -55 y: -5 z: 380, gripper: close, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: -55 y: -5 z: 380 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* go above the other element * from (-55; -5; 680) * to (27; -12; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 27 y: -12 z: 300, gripper: close, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: 27 y: -12 z: 300 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 27 y: -12 z: 300, gripper: open, black-cup x: 27 y: -12 z: 0 , green-circle x: -32 y: 50 z: 40 , green-rectangle x: 27 y: -12 z: 0 , grey-rectangle x: 37 y: -43 z: 80 , red-rectangle x: 50 y: -28 z: 80 , red-triangle x: -26 y: 19 z: 40])
* go home * from (27; -12; 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: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: 44 y: 28 z: 80 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* go above the element to pick * from (380; 0; 620) * to (44; 28; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 44 y: 28 z: 140, gripper: open, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: 44 y: 28 z: 80 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* go close to it * from(44; 28; 140)* to (44; 28; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 44 y: 28 z: 70, gripper: open, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: 44 y: 28 z: 80 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 44 y: 28 z: 70, gripper: close, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: 44 y: 28 z: 80 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* move up * from (44; 28; 70) * to (44; 28; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 44 y: 28 z: 380, gripper: close, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: 44 y: 28 z: 380 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* go above the other element * from (44; 28; 680) * to (-9; -12; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -9 y: -12 z: 300, gripper: close, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: -9 y: -12 z: 300 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -9 y: -12 z: 300, gripper: open, black-cup x: -9 y: -12 z: 0 , green-circle x: 59 y: 5 z: 40 , green-rectangle x: 58 y: 27 z: 80 , grey-rectangle x: -9 y: -12 z: 0 , red-rectangle x: -24 y: 29 z: 80 , red-triangle x: -49 y: -50 z: 40])
* go home * from (-9; -12; 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: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: -45 y: 21 z: 80 , red-triangle x: 15 y: 54 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-45; 21; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: 21 z: 140, gripper: open, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: -45 y: 21 z: 80 , red-triangle x: 15 y: 54 z: 40])
* go close to it * from(-45; 21; 140)* to (-45; 21; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: 21 z: 70, gripper: open, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: -45 y: 21 z: 80 , red-triangle x: 15 y: 54 z: 40])
* grasp it * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: 21 z: 70, gripper: close, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: -45 y: 21 z: 80 , red-triangle x: 15 y: 54 z: 40])
* move up * from (-45; 21; 70) * to (-45; 21; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: -45 y: 21 z: 380, gripper: close, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: -45 y: 21 z: 380 , red-triangle x: 15 y: 54 z: 40])
* go above the other element * from (-45; 21; 680) * to (35; -55; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: 35 y: -55 z: 300, gripper: close, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: 35 y: -55 z: 300 , red-triangle x: 15 y: 54 z: 40])
* leave the element * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 35 y: -55 z: 300, gripper: open, black-cup x: 35 y: -55 z: 0 , green-circle x: -9 y: 38 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: -20 y: 6 z: 80 , red-rectangle x: 35 y: -55 z: 0 , red-triangle x: 15 y: 54 z: 40])
* go home * from (35; -55; 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: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 12 y: 0 z: 40])
* go above the element to pick * from (380; 0; 620) * to (12; 0; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 12 y: 0 z: 100, gripper: open, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 12 y: 0 z: 40])
* go close to it * from(12; 0; 100)* to (12; 0; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 12 y: 0 z: 30, gripper: open, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 12 y: 0 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 12 y: 0 z: 30, gripper: close, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 12 y: 0 z: 40])
* move up * from (12; 0; 30) * to (12; 0; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 12 y: 0 z: 340, gripper: close, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 12 y: 0 z: 340])
* go above the other element * from (12; 0; 640) * to (21; 36; 300)
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: 36 z: 300, gripper: close, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 21 y: 36 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: 36 z: 300, gripper: open, black-cup x: 21 y: 36 z: 0 , green-circle x: -20 y: 2 z: 40 , green-rectangle x: -38 y: 0 z: 80 , grey-rectangle x: 11 y: -28 z: 80 , red-rectangle x: 33 y: 8 z: 80 , red-triangle x: 21 y: 36 z: 0])
* go home * from (21; 36; 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: 45 y: 0 z: 0 , green-circle x: -30 y: 18 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-30; 18; 100)
take the green-circle and put it inside the black cup
table([ eof x: -30 y: 18 z: 100, gripper: open, black-cup x: 45 y: 0 z: 0 , green-circle x: -30 y: 18 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* go close to it * from(-30; 18; 100)* to (-30; 18; 30)
take the green-circle and put it inside the black cup
table([ eof x: -30 y: 18 z: 30, gripper: open, black-cup x: 45 y: 0 z: 0 , green-circle x: -30 y: 18 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -30 y: 18 z: 30, gripper: close, black-cup x: 45 y: 0 z: 0 , green-circle x: -30 y: 18 z: 40 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* move up * from (-30; 18; 30) * to (-30; 18; 340)
take the green-circle and put it inside the black cup
table([ eof x: -30 y: 18 z: 340, gripper: close, black-cup x: 45 y: 0 z: 0 , green-circle x: -30 y: 18 z: 340 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* go above the other element * from (-30; 18; 640) * to (45; 0; 300)
take the green-circle and put it inside the black cup
table([ eof x: 45 y: 0 z: 300, gripper: close, black-cup x: 45 y: 0 z: 0 , green-circle x: 45 y: 0 z: 300 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 45 y: 0 z: 300, gripper: open, black-cup x: 45 y: 0 z: 0 , green-circle x: 45 y: 0 z: 0 , green-rectangle x: 36 y: -25 z: 80 , grey-rectangle x: 11 y: 1 z: 80 , red-rectangle x: 18 y: -5 z: 80 , red-triangle x: 37 y: 18 z: 40])
* go home * from (45; 0; 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: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -12 y: 52 z: 80 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-12; 52; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -12 y: 52 z: 140, gripper: open, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -12 y: 52 z: 80 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* go close to it * from(-12; 52; 140)* to (-12; 52; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -12 y: 52 z: 70, gripper: open, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -12 y: 52 z: 80 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -12 y: 52 z: 70, gripper: close, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -12 y: 52 z: 80 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* move up * from (-12; 52; 70) * to (-12; 52; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -12 y: 52 z: 380, gripper: close, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -12 y: 52 z: 380 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* go above the other element * from (-12; 52; 680) * to (-32; -13; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: -32 y: -13 z: 300, gripper: close, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -32 y: -13 z: 300 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -32 y: -13 z: 300, gripper: open, black-cup x: -32 y: -13 z: 0 , green-circle x: -54 y: -16 z: 40 , green-rectangle x: -32 y: -13 z: 0 , grey-rectangle x: 27 y: 21 z: 80 , red-rectangle x: -4 y: -19 z: 80 , red-triangle x: 22 y: 57 z: 40])
* go home * from (-32; -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: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: 34 y: -47 z: 80 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* go above the element to pick * from (380; 0; 620) * to (34; -47; 140)
take the grey-rectangle and put it inside the black cup
table([ eof x: 34 y: -47 z: 140, gripper: open, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: 34 y: -47 z: 80 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* go close to it * from(34; -47; 140)* to (34; -47; 70)
take the grey-rectangle and put it inside the black cup
table([ eof x: 34 y: -47 z: 70, gripper: open, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: 34 y: -47 z: 80 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* grasp it * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 34 y: -47 z: 70, gripper: close, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: 34 y: -47 z: 80 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* move up * from (34; -47; 70) * to (34; -47; 380)
take the grey-rectangle and put it inside the black cup
table([ eof x: 34 y: -47 z: 380, gripper: close, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: 34 y: -47 z: 380 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* go above the other element * from (34; -47; 680) * to (-10; 27; 300)
take the grey-rectangle and put it inside the black cup
table([ eof x: -10 y: 27 z: 300, gripper: close, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: -10 y: 27 z: 300 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* leave the element * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -10 y: 27 z: 300, gripper: open, black-cup x: -10 y: 27 z: 0 , green-circle x: -1 y: -29 z: 40 , green-rectangle x: -55 y: 2 z: 80 , grey-rectangle x: -10 y: 27 z: 0 , red-rectangle x: 43 y: 34 z: 80 , red-triangle x: -45 y: -7 z: 40])
* go home * from (-10; 27; 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: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: 32 y: -53 z: 80 , red-triangle x: -56 y: 22 z: 40])
* go above the element to pick * from (380; 0; 620) * to (32; -53; 140)
take the red-rectangle and put it inside the black cup
table([ eof x: 32 y: -53 z: 140, gripper: open, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: 32 y: -53 z: 80 , red-triangle x: -56 y: 22 z: 40])
* go close to it * from(32; -53; 140)* to (32; -53; 70)
take the red-rectangle and put it inside the black cup
table([ eof x: 32 y: -53 z: 70, gripper: open, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: 32 y: -53 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: 32 y: -53 z: 70, gripper: close, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: 32 y: -53 z: 80 , red-triangle x: -56 y: 22 z: 40])
* move up * from (32; -53; 70) * to (32; -53; 380)
take the red-rectangle and put it inside the black cup
table([ eof x: 32 y: -53 z: 380, gripper: close, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: 32 y: -53 z: 380 , red-triangle x: -56 y: 22 z: 40])
* go above the other element * from (32; -53; 680) * to (-59; -53; 300)
take the red-rectangle and put it inside the black cup
table([ eof x: -59 y: -53 z: 300, gripper: close, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: -59 y: -53 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: -59 y: -53 z: 300, gripper: open, black-cup x: -59 y: -53 z: 0 , green-circle x: -41 y: 37 z: 40 , green-rectangle x: 45 y: -6 z: 80 , grey-rectangle x: -28 y: 58 z: 80 , red-rectangle x: -59 y: -53 z: 0 , red-triangle x: -56 y: 22 z: 40])
* go home * from (-59; -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: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: 38 y: -43 z: 40])
* go above the element to pick * from (380; 0; 620) * to (38; -43; 100)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -43 z: 100, gripper: open, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: 38 y: -43 z: 40])
* go close to it * from(38; -43; 100)* to (38; -43; 30)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -43 z: 30, gripper: open, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: 38 y: -43 z: 40])
* grasp it * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -43 z: 30, gripper: close, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: 38 y: -43 z: 40])
* move up * from (38; -43; 30) * to (38; -43; 340)
take the red-triangle and put it inside the black cup
table([ eof x: 38 y: -43 z: 340, gripper: close, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: 38 y: -43 z: 340])
* go above the other element * from (38; -43; 640) * to (-58; -40; 300)
take the red-triangle and put it inside the black cup
table([ eof x: -58 y: -40 z: 300, gripper: close, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: -58 y: -40 z: 300])
* leave the element * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: -58 y: -40 z: 300, gripper: open, black-cup x: -58 y: -40 z: 0 , green-circle x: 42 y: 46 z: 40 , green-rectangle x: 1 y: -45 z: 80 , grey-rectangle x: 22 y: 19 z: 80 , red-rectangle x: 35 y: 57 z: 80 , red-triangle x: -58 y: -40 z: 0])
* go home * from (-58; -40; 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: 52 y: -10 z: 0 , green-circle x: -43 y: -34 z: 40 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-43; -34; 100)
take the green-circle and put it inside the black cup
table([ eof x: -43 y: -34 z: 100, gripper: open, black-cup x: 52 y: -10 z: 0 , green-circle x: -43 y: -34 z: 40 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* go close to it * from(-43; -34; 100)* to (-43; -34; 30)
take the green-circle and put it inside the black cup
table([ eof x: -43 y: -34 z: 30, gripper: open, black-cup x: 52 y: -10 z: 0 , green-circle x: -43 y: -34 z: 40 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* grasp it * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -43 y: -34 z: 30, gripper: close, black-cup x: 52 y: -10 z: 0 , green-circle x: -43 y: -34 z: 40 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* move up * from (-43; -34; 30) * to (-43; -34; 340)
take the green-circle and put it inside the black cup
table([ eof x: -43 y: -34 z: 340, gripper: close, black-cup x: 52 y: -10 z: 0 , green-circle x: -43 y: -34 z: 340 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* go above the other element * from (-43; -34; 640) * to (52; -10; 300)
take the green-circle and put it inside the black cup
table([ eof x: 52 y: -10 z: 300, gripper: close, black-cup x: 52 y: -10 z: 0 , green-circle x: 52 y: -10 z: 300 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* leave the element * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 52 y: -10 z: 300, gripper: open, black-cup x: 52 y: -10 z: 0 , green-circle x: 52 y: -10 z: 0 , green-rectangle x: 23 y: 32 z: 80 , grey-rectangle x: -39 y: 5 z: 80 , red-rectangle x: -23 y: -57 z: 80 , red-triangle x: -57 y: -54 z: 40])
* go home * from (52; -10; 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: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: -2 y: -56 z: 80 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-2; -56; 140)
take the green-rectangle and put it inside the black cup
table([ eof x: -2 y: -56 z: 140, gripper: open, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: -2 y: -56 z: 80 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* go close to it * from(-2; -56; 140)* to (-2; -56; 70)
take the green-rectangle and put it inside the black cup
table([ eof x: -2 y: -56 z: 70, gripper: open, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: -2 y: -56 z: 80 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* grasp it * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -2 y: -56 z: 70, gripper: close, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: -2 y: -56 z: 80 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* move up * from (-2; -56; 70) * to (-2; -56; 380)
take the green-rectangle and put it inside the black cup
table([ eof x: -2 y: -56 z: 380, gripper: close, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: -2 y: -56 z: 380 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* go above the other element * from (-2; -56; 680) * to (29; 1; 300)
take the green-rectangle and put it inside the black cup
table([ eof x: 29 y: 1 z: 300, gripper: close, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: 29 y: 1 z: 300 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* leave the element * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 29 y: 1 z: 300, gripper: open, black-cup x: 29 y: 1 z: 0 , green-circle x: 54 y: 50 z: 40 , green-rectangle x: 29 y: 1 z: 0 , grey-rectangle x: -34 y: -37 z: 80 , red-rectangle x: -47 y: -41 z: 80 , red-triangle x: -31 y: 38 z: 40])
* go home * from (29; 1; 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: 26 y: -18 z: 0 , green-circle x: 48 y: 12 z: 40 , green-rectangle x: -40 y: 3 z: 80 , grey-rectangle x: -39 y: -19 z: 80 , red-rectangle x: 59 y: 52 z: 80 , red-triangle x: 47 y: -45 z: 40])
* go above the element to pick * from (380; 0; 620) * to (-39; -19; 140)
take the grey-rectangle and put it inside the black cup