Datasets:
marcomaccarini
/
ds_robot_22

Dataset card Data Studio Files
xet
Community
1
question
stringclasses
5 values
context
stringlengths
238
261
answer
stringlengths
22
36
take the red-rectangle and put it inside the black cup
table([ eof x: -50 y: -50 z: 250, gripper: close, black-cup x: -31 y: -22 z: 0 , green-circle x: 59 y: -33 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: 20 y: -31 z: 80 , red-rectangle x: -50 y: -50 z: 250 , red-triangle x: -1 y: 25 z: 40])
* above cup * to (-31; -22; 350)
take the red-rectangle and put it inside the black cup
table([ eof x: -31 y: -22 z: 350, gripper: close, black-cup x: -31 y: -22 z: 0 , green-circle x: 59 y: -33 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: 20 y: -31 z: 80 , red-rectangle x: -31 y: -22 z: 350 , red-triangle x: -1 y: 25 z: 40])
* leave * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -31 y: -22 z: 350, gripper: open, black-cup x: -31 y: -22 z: 0 , green-circle x: 59 y: -33 z: 40 , green-rectangle x: 41 y: 17 z: 80 , grey-rectangle x: 20 y: -31 z: 80 , red-rectangle x: -31 y: -22 z: 0 , red-triangle x: -1 y: 25 z: 40])
* home * 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: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 11 y: 32 z: 40])
* above element * to (11; 32; 200)
take the red-triangle and put it inside the black cup
table([ eof x: 11 y: 32 z: 200, gripper: open, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 11 y: 32 z: 40])
* go close * to (11; 32; 40)
take the red-triangle and put it inside the black cup
table([ eof x: 11 y: 32 z: 40, gripper: open, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 11 y: 32 z: 40])
* grasp * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 11 y: 32 z: 40, gripper: close, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 11 y: 32 z: 40])
* up * to (11; 32; 250)
take the red-triangle and put it inside the black cup
table([ eof x: 11 y: 32 z: 250, gripper: close, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 11 y: 32 z: 250])
* above cup * to (21; 38; 350)
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: 38 z: 350, gripper: close, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 21 y: 38 z: 350])
* leave * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 21 y: 38 z: 350, gripper: open, black-cup x: 21 y: 38 z: 0 , green-circle x: -4 y: -26 z: 40 , green-rectangle x: -46 y: -45 z: 80 , grey-rectangle x: 27 y: -42 z: 80 , red-rectangle x: 2 y: 37 z: 80 , red-triangle x: 21 y: 38 z: 0])
* home * 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: 7 y: 27 z: 0 , green-circle x: 32 y: 4 z: 40 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* above element * to (32; 4; 200)
take the green-circle and put it inside the black cup
table([ eof x: 32 y: 4 z: 200, gripper: open, black-cup x: 7 y: 27 z: 0 , green-circle x: 32 y: 4 z: 40 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* go close * to (32; 4; 40)
take the green-circle and put it inside the black cup
table([ eof x: 32 y: 4 z: 40, gripper: open, black-cup x: 7 y: 27 z: 0 , green-circle x: 32 y: 4 z: 40 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* grasp * close gripper
take the green-circle and put it inside the black cup
table([ eof x: 32 y: 4 z: 40, gripper: close, black-cup x: 7 y: 27 z: 0 , green-circle x: 32 y: 4 z: 40 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* up * to (32; 4; 250)
take the green-circle and put it inside the black cup
table([ eof x: 32 y: 4 z: 250, gripper: close, black-cup x: 7 y: 27 z: 0 , green-circle x: 32 y: 4 z: 250 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* above cup * to (7; 27; 350)
take the green-circle and put it inside the black cup
table([ eof x: 7 y: 27 z: 350, gripper: close, black-cup x: 7 y: 27 z: 0 , green-circle x: 7 y: 27 z: 350 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* leave * open gripper
take the green-circle and put it inside the black cup
table([ eof x: 7 y: 27 z: 350, gripper: open, black-cup x: 7 y: 27 z: 0 , green-circle x: 7 y: 27 z: 0 , green-rectangle x: 9 y: 54 z: 80 , grey-rectangle x: -55 y: 27 z: 80 , red-rectangle x: 57 y: -12 z: 80 , red-triangle x: -16 y: -16 z: 40])
* home * 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: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: -6 y: -16 z: 80 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* above element * to (-6; -16; 200)
take the green-rectangle and put it inside the black cup
table([ eof x: -6 y: -16 z: 200, gripper: open, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: -6 y: -16 z: 80 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* go close * to (-6; -16; 80)
take the green-rectangle and put it inside the black cup
table([ eof x: -6 y: -16 z: 80, gripper: open, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: -6 y: -16 z: 80 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* grasp * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -6 y: -16 z: 80, gripper: close, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: -6 y: -16 z: 80 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* up * to (-6; -16; 250)
take the green-rectangle and put it inside the black cup
table([ eof x: -6 y: -16 z: 250, gripper: close, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: -6 y: -16 z: 250 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* above cup * to (48; 8; 350)
take the green-rectangle and put it inside the black cup
table([ eof x: 48 y: 8 z: 350, gripper: close, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: 48 y: 8 z: 350 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* leave * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 48 y: 8 z: 350, gripper: open, black-cup x: 48 y: 8 z: 0 , green-circle x: 2 y: -29 z: 40 , green-rectangle x: 48 y: 8 z: 0 , grey-rectangle x: 42 y: 59 z: 80 , red-rectangle x: 26 y: 20 z: 80 , red-triangle x: -23 y: 11 z: 40])
* home * 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: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: -46 y: 50 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* above element * to (-46; 50; 200)
take the grey-rectangle and put it inside the black cup
table([ eof x: -46 y: 50 z: 200, gripper: open, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: -46 y: 50 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* go close * to (-46; 50; 80)
take the grey-rectangle and put it inside the black cup
table([ eof x: -46 y: 50 z: 80, gripper: open, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: -46 y: 50 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* grasp * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: -46 y: 50 z: 80, gripper: close, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: -46 y: 50 z: 80 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* up * to (-46; 50; 250)
take the grey-rectangle and put it inside the black cup
table([ eof x: -46 y: 50 z: 250, gripper: close, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: -46 y: 50 z: 250 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* above cup * to (13; -59; 350)
take the grey-rectangle and put it inside the black cup
table([ eof x: 13 y: -59 z: 350, gripper: close, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: 13 y: -59 z: 350 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* leave * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 13 y: -59 z: 350, gripper: open, black-cup x: 13 y: -59 z: 0 , green-circle x: 43 y: 51 z: 40 , green-rectangle x: 15 y: 17 z: 80 , grey-rectangle x: 13 y: -59 z: 0 , red-rectangle x: 28 y: 9 z: 80 , red-triangle x: -23 y: -10 z: 40])
* home * 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: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: -23 y: 48 z: 80 , red-triangle x: 42 y: -55 z: 40])
* above element * to (-23; 48; 200)
take the red-rectangle and put it inside the black cup
table([ eof x: -23 y: 48 z: 200, gripper: open, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: -23 y: 48 z: 80 , red-triangle x: 42 y: -55 z: 40])
* go close * to (-23; 48; 80)
take the red-rectangle and put it inside the black cup
table([ eof x: -23 y: 48 z: 80, gripper: open, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: -23 y: 48 z: 80 , red-triangle x: 42 y: -55 z: 40])
* grasp * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -23 y: 48 z: 80, gripper: close, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: -23 y: 48 z: 80 , red-triangle x: 42 y: -55 z: 40])
* up * to (-23; 48; 250)
take the red-rectangle and put it inside the black cup
table([ eof x: -23 y: 48 z: 250, gripper: close, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: -23 y: 48 z: 250 , red-triangle x: 42 y: -55 z: 40])
* above cup * to (0; 15; 350)
take the red-rectangle and put it inside the black cup
table([ eof x: 0 y: 15 z: 350, gripper: close, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: 0 y: 15 z: 350 , red-triangle x: 42 y: -55 z: 40])
* leave * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 0 y: 15 z: 350, gripper: open, black-cup x: 0 y: 15 z: 0 , green-circle x: 46 y: 21 z: 40 , green-rectangle x: 38 y: -58 z: 80 , grey-rectangle x: -6 y: 34 z: 80 , red-rectangle x: 0 y: 15 z: 0 , red-triangle x: 42 y: -55 z: 40])
* home * 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: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: -45 y: -21 z: 40])
* above element * to (-45; -21; 200)
take the red-triangle and put it inside the black cup
table([ eof x: -45 y: -21 z: 200, gripper: open, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: -45 y: -21 z: 40])
* go close * to (-45; -21; 40)
take the red-triangle and put it inside the black cup
table([ eof x: -45 y: -21 z: 40, gripper: open, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: -45 y: -21 z: 40])
* grasp * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: -45 y: -21 z: 40, gripper: close, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: -45 y: -21 z: 40])
* up * to (-45; -21; 250)
take the red-triangle and put it inside the black cup
table([ eof x: -45 y: -21 z: 250, gripper: close, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: -45 y: -21 z: 250])
* above cup * to (37; 10; 350)
take the red-triangle and put it inside the black cup
table([ eof x: 37 y: 10 z: 350, gripper: close, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: 37 y: 10 z: 350])
* leave * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 37 y: 10 z: 350, gripper: open, black-cup x: 37 y: 10 z: 0 , green-circle x: -36 y: -53 z: 40 , green-rectangle x: 54 y: -13 z: 80 , grey-rectangle x: 1 y: -58 z: 80 , red-rectangle x: 10 y: 0 z: 80 , red-triangle x: 37 y: 10 z: 0])
* home * 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: -20 y: -15 z: 0 , green-circle x: -44 y: 50 z: 40 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* above element * to (-44; 50; 200)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 50 z: 200, gripper: open, black-cup x: -20 y: -15 z: 0 , green-circle x: -44 y: 50 z: 40 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* go close * to (-44; 50; 40)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 50 z: 40, gripper: open, black-cup x: -20 y: -15 z: 0 , green-circle x: -44 y: 50 z: 40 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* grasp * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 50 z: 40, gripper: close, black-cup x: -20 y: -15 z: 0 , green-circle x: -44 y: 50 z: 40 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* up * to (-44; 50; 250)
take the green-circle and put it inside the black cup
table([ eof x: -44 y: 50 z: 250, gripper: close, black-cup x: -20 y: -15 z: 0 , green-circle x: -44 y: 50 z: 250 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* above cup * to (-20; -15; 350)
take the green-circle and put it inside the black cup
table([ eof x: -20 y: -15 z: 350, gripper: close, black-cup x: -20 y: -15 z: 0 , green-circle x: -20 y: -15 z: 350 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* leave * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -20 y: -15 z: 350, gripper: open, black-cup x: -20 y: -15 z: 0 , green-circle x: -20 y: -15 z: 0 , green-rectangle x: -29 y: 18 z: 80 , grey-rectangle x: 39 y: -45 z: 80 , red-rectangle x: -20 y: -39 z: 80 , red-triangle x: 50 y: -29 z: 40])
* home * 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: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 11 y: -43 z: 80 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* above element * to (11; -43; 200)
take the green-rectangle and put it inside the black cup
table([ eof x: 11 y: -43 z: 200, gripper: open, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 11 y: -43 z: 80 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* go close * to (11; -43; 80)
take the green-rectangle and put it inside the black cup
table([ eof x: 11 y: -43 z: 80, gripper: open, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 11 y: -43 z: 80 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* grasp * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 11 y: -43 z: 80, gripper: close, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 11 y: -43 z: 80 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* up * to (11; -43; 250)
take the green-rectangle and put it inside the black cup
table([ eof x: 11 y: -43 z: 250, gripper: close, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 11 y: -43 z: 250 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* above cup * to (15; 20; 350)
take the green-rectangle and put it inside the black cup
table([ eof x: 15 y: 20 z: 350, gripper: close, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 15 y: 20 z: 350 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* leave * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 15 y: 20 z: 350, gripper: open, black-cup x: 15 y: 20 z: 0 , green-circle x: -6 y: -45 z: 40 , green-rectangle x: 15 y: 20 z: 0 , grey-rectangle x: 0 y: 8 z: 80 , red-rectangle x: 46 y: 6 z: 80 , red-triangle x: 31 y: 39 z: 40])
* home * 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: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: -40 z: 80 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* above element * to (37; -40; 200)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: -40 z: 200, gripper: open, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: -40 z: 80 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* go close * to (37; -40; 80)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: -40 z: 80, gripper: open, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: -40 z: 80 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* grasp * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: -40 z: 80, gripper: close, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: -40 z: 80 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* up * to (37; -40; 250)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: -40 z: 250, gripper: close, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: -40 z: 250 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* above cup * to (37; 14; 350)
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 14 z: 350, gripper: close, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: 14 z: 350 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* leave * open gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 37 y: 14 z: 350, gripper: open, black-cup x: 37 y: 14 z: 0 , green-circle x: 43 y: -54 z: 40 , green-rectangle x: -41 y: 27 z: 80 , grey-rectangle x: 37 y: 14 z: 0 , red-rectangle x: -20 y: 43 z: 80 , red-triangle x: 33 y: -57 z: 40])
* home * 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: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: -27 y: -46 z: 80 , red-triangle x: -52 y: -15 z: 40])
* above element * to (-27; -46; 200)
take the red-rectangle and put it inside the black cup
table([ eof x: -27 y: -46 z: 200, gripper: open, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: -27 y: -46 z: 80 , red-triangle x: -52 y: -15 z: 40])
* go close * to (-27; -46; 80)
take the red-rectangle and put it inside the black cup
table([ eof x: -27 y: -46 z: 80, gripper: open, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: -27 y: -46 z: 80 , red-triangle x: -52 y: -15 z: 40])
* grasp * close gripper
take the red-rectangle and put it inside the black cup
table([ eof x: -27 y: -46 z: 80, gripper: close, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: -27 y: -46 z: 80 , red-triangle x: -52 y: -15 z: 40])
* up * to (-27; -46; 250)
take the red-rectangle and put it inside the black cup
table([ eof x: -27 y: -46 z: 250, gripper: close, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: -27 y: -46 z: 250 , red-triangle x: -52 y: -15 z: 40])
* above cup * to (38; -31; 350)
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: -31 z: 350, gripper: close, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: 38 y: -31 z: 350 , red-triangle x: -52 y: -15 z: 40])
* leave * open gripper
take the red-rectangle and put it inside the black cup
table([ eof x: 38 y: -31 z: 350, gripper: open, black-cup x: 38 y: -31 z: 0 , green-circle x: 7 y: -44 z: 40 , green-rectangle x: -59 y: -23 z: 80 , grey-rectangle x: -56 y: -45 z: 80 , red-rectangle x: 38 y: -31 z: 0 , red-triangle x: -52 y: -15 z: 40])
* home * 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: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 19 y: 15 z: 40])
* above element * to (19; 15; 200)
take the red-triangle and put it inside the black cup
table([ eof x: 19 y: 15 z: 200, gripper: open, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 19 y: 15 z: 40])
* go close * to (19; 15; 40)
take the red-triangle and put it inside the black cup
table([ eof x: 19 y: 15 z: 40, gripper: open, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 19 y: 15 z: 40])
* grasp * close gripper
take the red-triangle and put it inside the black cup
table([ eof x: 19 y: 15 z: 40, gripper: close, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 19 y: 15 z: 40])
* up * to (19; 15; 250)
take the red-triangle and put it inside the black cup
table([ eof x: 19 y: 15 z: 250, gripper: close, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 19 y: 15 z: 250])
* above cup * to (43; -35; 350)
take the red-triangle and put it inside the black cup
table([ eof x: 43 y: -35 z: 350, gripper: close, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 43 y: -35 z: 350])
* leave * open gripper
take the red-triangle and put it inside the black cup
table([ eof x: 43 y: -35 z: 350, gripper: open, black-cup x: 43 y: -35 z: 0 , green-circle x: 4 y: -56 z: 40 , green-rectangle x: -49 y: 1 z: 80 , grey-rectangle x: -48 y: 41 z: 80 , red-rectangle x: 27 y: -40 z: 80 , red-triangle x: 43 y: -35 z: 0])
* home * 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: -53 y: 34 z: 0 , green-circle x: -13 y: -11 z: 40 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* above element * to (-13; -11; 200)
take the green-circle and put it inside the black cup
table([ eof x: -13 y: -11 z: 200, gripper: open, black-cup x: -53 y: 34 z: 0 , green-circle x: -13 y: -11 z: 40 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* go close * to (-13; -11; 40)
take the green-circle and put it inside the black cup
table([ eof x: -13 y: -11 z: 40, gripper: open, black-cup x: -53 y: 34 z: 0 , green-circle x: -13 y: -11 z: 40 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* grasp * close gripper
take the green-circle and put it inside the black cup
table([ eof x: -13 y: -11 z: 40, gripper: close, black-cup x: -53 y: 34 z: 0 , green-circle x: -13 y: -11 z: 40 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* up * to (-13; -11; 250)
take the green-circle and put it inside the black cup
table([ eof x: -13 y: -11 z: 250, gripper: close, black-cup x: -53 y: 34 z: 0 , green-circle x: -13 y: -11 z: 250 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* above cup * to (-53; 34; 350)
take the green-circle and put it inside the black cup
table([ eof x: -53 y: 34 z: 350, gripper: close, black-cup x: -53 y: 34 z: 0 , green-circle x: -53 y: 34 z: 350 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* leave * open gripper
take the green-circle and put it inside the black cup
table([ eof x: -53 y: 34 z: 350, gripper: open, black-cup x: -53 y: 34 z: 0 , green-circle x: -53 y: 34 z: 0 , green-rectangle x: 26 y: -43 z: 80 , grey-rectangle x: 35 y: -22 z: 80 , red-rectangle x: -3 y: 15 z: 80 , red-triangle x: 6 y: 26 z: 40])
* home * 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: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: 17 y: -52 z: 80 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* above element * to (17; -52; 200)
take the green-rectangle and put it inside the black cup
table([ eof x: 17 y: -52 z: 200, gripper: open, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: 17 y: -52 z: 80 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* go close * to (17; -52; 80)
take the green-rectangle and put it inside the black cup
table([ eof x: 17 y: -52 z: 80, gripper: open, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: 17 y: -52 z: 80 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* grasp * close gripper
take the green-rectangle and put it inside the black cup
table([ eof x: 17 y: -52 z: 80, gripper: close, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: 17 y: -52 z: 80 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* up * to (17; -52; 250)
take the green-rectangle and put it inside the black cup
table([ eof x: 17 y: -52 z: 250, gripper: close, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: 17 y: -52 z: 250 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* above cup * to (-25; -30; 350)
take the green-rectangle and put it inside the black cup
table([ eof x: -25 y: -30 z: 350, gripper: close, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: -25 y: -30 z: 350 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* leave * open gripper
take the green-rectangle and put it inside the black cup
table([ eof x: -25 y: -30 z: 350, gripper: open, black-cup x: -25 y: -30 z: 0 , green-circle x: 42 y: -44 z: 40 , green-rectangle x: -25 y: -30 z: 0 , grey-rectangle x: -39 y: -29 z: 80 , red-rectangle x: 47 y: -50 z: 80 , red-triangle x: 31 y: -16 z: 40])
* home * 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: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: 6 y: -48 z: 80 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* above element * to (6; -48; 200)
take the grey-rectangle and put it inside the black cup
table([ eof x: 6 y: -48 z: 200, gripper: open, black-cup x: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: 6 y: -48 z: 80 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* go close * to (6; -48; 80)
take the grey-rectangle and put it inside the black cup
table([ eof x: 6 y: -48 z: 80, gripper: open, black-cup x: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: 6 y: -48 z: 80 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* grasp * close gripper
take the grey-rectangle and put it inside the black cup
table([ eof x: 6 y: -48 z: 80, gripper: close, black-cup x: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: 6 y: -48 z: 80 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* up * to (6; -48; 250)
take the grey-rectangle and put it inside the black cup
table([ eof x: 6 y: -48 z: 250, gripper: close, black-cup x: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: 6 y: -48 z: 250 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* above cup * to (-23; 15; 350)
take the grey-rectangle and put it inside the black cup
table([ eof x: -23 y: 15 z: 350, gripper: close, black-cup x: -23 y: 15 z: 0 , green-circle x: 55 y: -13 z: 40 , green-rectangle x: -58 y: -45 z: 80 , grey-rectangle x: -23 y: 15 z: 350 , red-rectangle x: 25 y: -10 z: 80 , red-triangle x: -11 y: -17 z: 40])
* leave * open gripper