Datasets:

marcomaccarini

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ds_robot_13

like 0

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 6 y: -56 z: 0 , green-circle x: 28 y: 37 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* go above the element to pick * from (380; 0; 620) * to (28; 37; 60)

take the green-circle and put it inside the black cup

table([ eof x: 28 y: 37 z: 60, gripper: open, black-cup x: 6 y: -56 z: 0 , green-circle x: 28 y: 37 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* go close to it * from(28; 37; 60)* to (28; 37; -10)

take the green-circle and put it inside the black cup

table([ eof x: 28 y: 37 z: -10, gripper: open, black-cup x: 6 y: -56 z: 0 , green-circle x: 28 y: 37 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: 28 y: 37 z: -10, gripper: close, black-cup x: 6 y: -56 z: 0 , green-circle x: 28 y: 37 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* move up * from (28; 37; -10) * to (28; 37; 300)

take the green-circle and put it inside the black cup

table([ eof x: 28 y: 37 z: 300, gripper: close, black-cup x: 6 y: -56 z: 0 , green-circle x: 28 y: 37 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* go above the other element * from (28; 37; 300) * to (6; -56; 300)

take the green-circle and put it inside the black cup

table([ eof x: 6 y: -56 z: 300, gripper: close, black-cup x: 6 y: -56 z: 0 , green-circle x: 6 y: -56 z: 300 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: 6 y: -56 z: 300, gripper: open, black-cup x: 6 y: -56 z: 0 , green-circle x: 6 y: -56 z: 0 , green-rectangle x: -1 y: -13 z: 0 , grey-rectangle x: -57 y: 19 z: 0 , red-rectangle x: 55 y: 46 z: 0 , red-triangle x: 42 y: 58 z: 0])

* go home * from (6; -56; 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: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 53 y: -27 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* go above the element to pick * from (380; 0; 620) * to (53; -27; 60)

take the green-rectangle and put it inside the black cup

table([ eof x: 53 y: -27 z: 60, gripper: open, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 53 y: -27 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* go close to it * from(53; -27; 60)* to (53; -27; -10)

take the green-rectangle and put it inside the black cup

table([ eof x: 53 y: -27 z: -10, gripper: open, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 53 y: -27 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 53 y: -27 z: -10, gripper: close, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 53 y: -27 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* move up * from (53; -27; -10) * to (53; -27; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 53 y: -27 z: 300, gripper: close, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 53 y: -27 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* go above the other element * from (53; -27; 300) * to (32; -34; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 32 y: -34 z: 300, gripper: close, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 32 y: -34 z: 300 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 32 y: -34 z: 300, gripper: open, black-cup x: 32 y: -34 z: 0 , green-circle x: -30 y: 52 z: 0 , green-rectangle x: 32 y: -34 z: 0 , grey-rectangle x: 28 y: -42 z: 0 , red-rectangle x: 43 y: 33 z: 0 , red-triangle x: -45 y: -48 z: 0])

* go home * from (32; -34; 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: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: 30 y: 57 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* go above the element to pick * from (380; 0; 620) * to (30; 57; 60)

take the grey-rectangle and put it inside the black cup

table([ eof x: 30 y: 57 z: 60, gripper: open, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: 30 y: 57 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* go close to it * from(30; 57; 60)* to (30; 57; -10)

take the grey-rectangle and put it inside the black cup

table([ eof x: 30 y: 57 z: -10, gripper: open, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: 30 y: 57 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 30 y: 57 z: -10, gripper: close, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: 30 y: 57 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* move up * from (30; 57; -10) * to (30; 57; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 30 y: 57 z: 300, gripper: close, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: 30 y: 57 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* go above the other element * from (30; 57; 300) * to (-45; 6; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: -45 y: 6 z: 300, gripper: close, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: -45 y: 6 z: 300 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: -45 y: 6 z: 300, gripper: open, black-cup x: -45 y: 6 z: 0 , green-circle x: 40 y: -34 z: 0 , green-rectangle x: 49 y: -55 z: 0 , grey-rectangle x: -45 y: 6 z: 0 , red-rectangle x: -2 y: 10 z: 0 , red-triangle x: -29 y: -58 z: 0])

* go home * from (-45; 6; 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: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -45 y: -9 z: 0 , red-triangle x: -52 y: -49 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-45; -9; 60)

take the red-rectangle and put it inside the black cup

table([ eof x: -45 y: -9 z: 60, gripper: open, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -45 y: -9 z: 0 , red-triangle x: -52 y: -49 z: 0])

* go close to it * from(-45; -9; 60)* to (-45; -9; -10)

take the red-rectangle and put it inside the black cup

table([ eof x: -45 y: -9 z: -10, gripper: open, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -45 y: -9 z: 0 , red-triangle x: -52 y: -49 z: 0])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -45 y: -9 z: -10, gripper: close, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -45 y: -9 z: 0 , red-triangle x: -52 y: -49 z: 0])

* move up * from (-45; -9; -10) * to (-45; -9; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -45 y: -9 z: 300, gripper: close, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -45 y: -9 z: 0 , red-triangle x: -52 y: -49 z: 0])

* go above the other element * from (-45; -9; 300) * to (-10; -20; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -10 y: -20 z: 300, gripper: close, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -10 y: -20 z: 300 , red-triangle x: -52 y: -49 z: 0])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -10 y: -20 z: 300, gripper: open, black-cup x: -10 y: -20 z: 0 , green-circle x: 54 y: 59 z: 0 , green-rectangle x: -25 y: -15 z: 0 , grey-rectangle x: 31 y: -20 z: 0 , red-rectangle x: -10 y: -20 z: 0 , red-triangle x: -52 y: -49 z: 0])

* go home * from (-10; -20; 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: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: -33 y: -32 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-33; -32; 60)

take the red-triangle and put it inside the black cup

table([ eof x: -33 y: -32 z: 60, gripper: open, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: -33 y: -32 z: 0])

* go close to it * from(-33; -32; 60)* to (-33; -32; -10)

take the red-triangle and put it inside the black cup

table([ eof x: -33 y: -32 z: -10, gripper: open, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: -33 y: -32 z: 0])

* grasp it * close gripper

take the red-triangle and put it inside the black cup

table([ eof x: -33 y: -32 z: -10, gripper: close, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: -33 y: -32 z: 0])

* move up * from (-33; -32; -10) * to (-33; -32; 300)

take the red-triangle and put it inside the black cup

table([ eof x: -33 y: -32 z: 300, gripper: close, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: -33 y: -32 z: 0])

* go above the other element * from (-33; -32; 300) * to (0; -41; 300)

take the red-triangle and put it inside the black cup

table([ eof x: 0 y: -41 z: 300, gripper: close, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: 0 y: -41 z: 300])

* leave the element * open gripper

take the red-triangle and put it inside the black cup

table([ eof x: 0 y: -41 z: 300, gripper: open, black-cup x: 0 y: -41 z: 0 , green-circle x: 59 y: 0 z: 0 , green-rectangle x: 19 y: -14 z: 0 , grey-rectangle x: 0 y: -29 z: 0 , red-rectangle x: -37 y: -9 z: 0 , red-triangle x: 0 y: -41 z: 0])

* go home * from (0; -41; 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: 0 y: 0 z: 0 , green-circle x: -14 y: -32 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-14; -32; 60)

take the green-circle and put it inside the black cup

table([ eof x: -14 y: -32 z: 60, gripper: open, black-cup x: 0 y: 0 z: 0 , green-circle x: -14 y: -32 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* go close to it * from(-14; -32; 60)* to (-14; -32; -10)

take the green-circle and put it inside the black cup

table([ eof x: -14 y: -32 z: -10, gripper: open, black-cup x: 0 y: 0 z: 0 , green-circle x: -14 y: -32 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: -14 y: -32 z: -10, gripper: close, black-cup x: 0 y: 0 z: 0 , green-circle x: -14 y: -32 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* move up * from (-14; -32; -10) * to (-14; -32; 300)

take the green-circle and put it inside the black cup

table([ eof x: -14 y: -32 z: 300, gripper: close, black-cup x: 0 y: 0 z: 0 , green-circle x: -14 y: -32 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* go above the other element * from (-14; -32; 300) * to (0; 0; 300)

take the green-circle and put it inside the black cup

table([ eof x: 0 y: 0 z: 300, gripper: close, black-cup x: 0 y: 0 z: 0 , green-circle x: 0 y: 0 z: 300 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: 0 y: 0 z: 300, gripper: open, black-cup x: 0 y: 0 z: 0 , green-circle x: 0 y: 0 z: 0 , green-rectangle x: 6 y: 10 z: 0 , grey-rectangle x: 24 y: 5 z: 0 , red-rectangle x: -26 y: 14 z: 0 , red-triangle x: -11 y: -5 z: 0])

* go home * from (0; 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: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 27 y: 4 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* go above the element to pick * from (380; 0; 620) * to (27; 4; 60)

take the green-rectangle and put it inside the black cup

table([ eof x: 27 y: 4 z: 60, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 27 y: 4 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* go close to it * from(27; 4; 60)* to (27; 4; -10)

take the green-rectangle and put it inside the black cup

table([ eof x: 27 y: 4 z: -10, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 27 y: 4 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 27 y: 4 z: -10, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 27 y: 4 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* move up * from (27; 4; -10) * to (27; 4; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 27 y: 4 z: 300, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 27 y: 4 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* go above the other element * from (27; 4; 300) * to (18; 0; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 18 y: 0 z: 300, gripper: close, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 18 y: 0 z: 300 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 18 y: 0 z: 300, gripper: open, black-cup x: 18 y: 0 z: 0 , green-circle x: 54 y: 14 z: 0 , green-rectangle x: 18 y: 0 z: 0 , grey-rectangle x: 39 y: -8 z: 0 , red-rectangle x: -54 y: 37 z: 0 , red-triangle x: -59 y: 49 z: 0])

* go home * from (18; 0; 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: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: -48 y: 57 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-48; 57; 60)

take the grey-rectangle and put it inside the black cup

table([ eof x: -48 y: 57 z: 60, gripper: open, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: -48 y: 57 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* go close to it * from(-48; 57; 60)* to (-48; 57; -10)

take the grey-rectangle and put it inside the black cup

table([ eof x: -48 y: 57 z: -10, gripper: open, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: -48 y: 57 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: -48 y: 57 z: -10, gripper: close, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: -48 y: 57 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* move up * from (-48; 57; -10) * to (-48; 57; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: -48 y: 57 z: 300, gripper: close, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: -48 y: 57 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* go above the other element * from (-48; 57; 300) * to (11; -39; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 11 y: -39 z: 300, gripper: close, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: 11 y: -39 z: 300 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 11 y: -39 z: 300, gripper: open, black-cup x: 11 y: -39 z: 0 , green-circle x: -1 y: -23 z: 0 , green-rectangle x: 13 y: -50 z: 0 , grey-rectangle x: 11 y: -39 z: 0 , red-rectangle x: -36 y: 42 z: 0 , red-triangle x: -27 y: -4 z: 0])

* go home * from (11; -39; 300) * to (380; 0; 620)

take the grey-rectangle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: 53 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* go above the element to pick * from (380; 0; 620) * to (53; 0; 60)

take the red-rectangle and put it inside the black cup

table([ eof x: 53 y: 0 z: 60, gripper: open, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: 53 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* go close to it * from(53; 0; 60)* to (53; 0; -10)

take the red-rectangle and put it inside the black cup

table([ eof x: 53 y: 0 z: -10, gripper: open, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: 53 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: 53 y: 0 z: -10, gripper: close, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: 53 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* move up * from (53; 0; -10) * to (53; 0; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: 53 y: 0 z: 300, gripper: close, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: 53 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* go above the other element * from (53; 0; 300) * to (-54; 0; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -54 y: 0 z: 300, gripper: close, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: -54 y: 0 z: 300 , red-triangle x: 12 y: -11 z: 0])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -54 y: 0 z: 300, gripper: open, black-cup x: -54 y: 0 z: 0 , green-circle x: -29 y: -1 z: 0 , green-rectangle x: -15 y: -45 z: 0 , grey-rectangle x: 23 y: 46 z: 0 , red-rectangle x: -54 y: 0 z: 0 , red-triangle x: 12 y: -11 z: 0])

* go home * from (-54; 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: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -2 y: -46 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-2; -46; 60)

take the red-triangle and put it inside the black cup

table([ eof x: -2 y: -46 z: 60, gripper: open, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -2 y: -46 z: 0])

* go close to it * from(-2; -46; 60)* to (-2; -46; -10)

take the red-triangle and put it inside the black cup

table([ eof x: -2 y: -46 z: -10, gripper: open, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -2 y: -46 z: 0])

* grasp it * close gripper

take the red-triangle and put it inside the black cup

table([ eof x: -2 y: -46 z: -10, gripper: close, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -2 y: -46 z: 0])

* move up * from (-2; -46; -10) * to (-2; -46; 300)

take the red-triangle and put it inside the black cup

table([ eof x: -2 y: -46 z: 300, gripper: close, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -2 y: -46 z: 0])

* go above the other element * from (-2; -46; 300) * to (-24; 29; 300)

take the red-triangle and put it inside the black cup

table([ eof x: -24 y: 29 z: 300, gripper: close, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -24 y: 29 z: 300])

* leave the element * open gripper

take the red-triangle and put it inside the black cup

table([ eof x: -24 y: 29 z: 300, gripper: open, black-cup x: -24 y: 29 z: 0 , green-circle x: -9 y: 22 z: 0 , green-rectangle x: 19 y: 14 z: 0 , grey-rectangle x: -25 y: -55 z: 0 , red-rectangle x: -16 y: -41 z: 0 , red-triangle x: -24 y: 29 z: 0])

* go home * from (-24; 29; 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: -53 y: 48 z: 0 , green-circle x: 10 y: -49 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* go above the element to pick * from (380; 0; 620) * to (10; -49; 60)

take the green-circle and put it inside the black cup

table([ eof x: 10 y: -49 z: 60, gripper: open, black-cup x: -53 y: 48 z: 0 , green-circle x: 10 y: -49 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* go close to it * from(10; -49; 60)* to (10; -49; -10)

take the green-circle and put it inside the black cup

table([ eof x: 10 y: -49 z: -10, gripper: open, black-cup x: -53 y: 48 z: 0 , green-circle x: 10 y: -49 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* grasp it * close gripper

take the green-circle and put it inside the black cup

table([ eof x: 10 y: -49 z: -10, gripper: close, black-cup x: -53 y: 48 z: 0 , green-circle x: 10 y: -49 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* move up * from (10; -49; -10) * to (10; -49; 300)

take the green-circle and put it inside the black cup

table([ eof x: 10 y: -49 z: 300, gripper: close, black-cup x: -53 y: 48 z: 0 , green-circle x: 10 y: -49 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* go above the other element * from (10; -49; 300) * to (-53; 48; 300)

take the green-circle and put it inside the black cup

table([ eof x: -53 y: 48 z: 300, gripper: close, black-cup x: -53 y: 48 z: 0 , green-circle x: -53 y: 48 z: 300 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* leave the element * open gripper

take the green-circle and put it inside the black cup

table([ eof x: -53 y: 48 z: 300, gripper: open, black-cup x: -53 y: 48 z: 0 , green-circle x: -53 y: 48 z: 0 , green-rectangle x: -2 y: 47 z: 0 , grey-rectangle x: 31 y: -44 z: 0 , red-rectangle x: -20 y: 55 z: 0 , red-triangle x: -37 y: 12 z: 0])

* go home * from (-53; 48; 300) * to (380; 0; 620)

take the green-circle and put it inside the black cup

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 17 y: 32 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* go above the element to pick * from (380; 0; 620) * to (17; 32; 60)

take the green-rectangle and put it inside the black cup

table([ eof x: 17 y: 32 z: 60, gripper: open, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 17 y: 32 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* go close to it * from(17; 32; 60)* to (17; 32; -10)

take the green-rectangle and put it inside the black cup

table([ eof x: 17 y: 32 z: -10, gripper: open, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 17 y: 32 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* grasp it * close gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 17 y: 32 z: -10, gripper: close, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 17 y: 32 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* move up * from (17; 32; -10) * to (17; 32; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 17 y: 32 z: 300, gripper: close, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 17 y: 32 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* go above the other element * from (17; 32; 300) * to (46; -9; 300)

take the green-rectangle and put it inside the black cup

table([ eof x: 46 y: -9 z: 300, gripper: close, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 46 y: -9 z: 300 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* leave the element * open gripper

take the green-rectangle and put it inside the black cup

table([ eof x: 46 y: -9 z: 300, gripper: open, black-cup x: 46 y: -9 z: 0 , green-circle x: -14 y: 51 z: 0 , green-rectangle x: 46 y: -9 z: 0 , grey-rectangle x: 0 y: -5 z: 0 , red-rectangle x: 59 y: -19 z: 0 , red-triangle x: -51 y: 36 z: 0])

* go home * from (46; -9; 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: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: 19 y: -50 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* go above the element to pick * from (380; 0; 620) * to (19; -50; 60)

take the grey-rectangle and put it inside the black cup

table([ eof x: 19 y: -50 z: 60, gripper: open, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: 19 y: -50 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* go close to it * from(19; -50; 60)* to (19; -50; -10)

take the grey-rectangle and put it inside the black cup

table([ eof x: 19 y: -50 z: -10, gripper: open, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: 19 y: -50 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* grasp it * close gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: 19 y: -50 z: -10, gripper: close, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: 19 y: -50 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* move up * from (19; -50; -10) * to (19; -50; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: 19 y: -50 z: 300, gripper: close, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: 19 y: -50 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* go above the other element * from (19; -50; 300) * to (-18; -46; 300)

take the grey-rectangle and put it inside the black cup

table([ eof x: -18 y: -46 z: 300, gripper: close, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: -18 y: -46 z: 300 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* leave the element * open gripper

take the grey-rectangle and put it inside the black cup

table([ eof x: -18 y: -46 z: 300, gripper: open, black-cup x: -18 y: -46 z: 0 , green-circle x: 44 y: 43 z: 0 , green-rectangle x: 24 y: 56 z: 0 , grey-rectangle x: -18 y: -46 z: 0 , red-rectangle x: -30 y: 41 z: 0 , red-triangle x: -4 y: 23 z: 0])

* go home * from (-18; -46; 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: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: 29 y: -46 z: 0 , red-triangle x: 4 y: 9 z: 0])

* go above the element to pick * from (380; 0; 620) * to (29; -46; 60)

take the red-rectangle and put it inside the black cup

table([ eof x: 29 y: -46 z: 60, gripper: open, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: 29 y: -46 z: 0 , red-triangle x: 4 y: 9 z: 0])

* go close to it * from(29; -46; 60)* to (29; -46; -10)

take the red-rectangle and put it inside the black cup

table([ eof x: 29 y: -46 z: -10, gripper: open, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: 29 y: -46 z: 0 , red-triangle x: 4 y: 9 z: 0])

* grasp it * close gripper

take the red-rectangle and put it inside the black cup

table([ eof x: 29 y: -46 z: -10, gripper: close, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: 29 y: -46 z: 0 , red-triangle x: 4 y: 9 z: 0])

* move up * from (29; -46; -10) * to (29; -46; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: 29 y: -46 z: 300, gripper: close, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: 29 y: -46 z: 0 , red-triangle x: 4 y: 9 z: 0])

* go above the other element * from (29; -46; 300) * to (-17; 45; 300)

take the red-rectangle and put it inside the black cup

table([ eof x: -17 y: 45 z: 300, gripper: close, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: -17 y: 45 z: 300 , red-triangle x: 4 y: 9 z: 0])

* leave the element * open gripper

take the red-rectangle and put it inside the black cup

table([ eof x: -17 y: 45 z: 300, gripper: open, black-cup x: -17 y: 45 z: 0 , green-circle x: 38 y: 9 z: 0 , green-rectangle x: 36 y: 3 z: 0 , grey-rectangle x: 16 y: 45 z: 0 , red-rectangle x: -17 y: 45 z: 0 , red-triangle x: 4 y: 9 z: 0])

* go home * from (-17; 45; 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: -50 y: -31 z: 0 , green-circle x: 5 y: -35 z: 0 , green-rectangle x: 30 y: 36 z: 0 , grey-rectangle x: 0 y: 12 z: 0 , red-rectangle x: -39 y: 57 z: 0 , red-triangle x: -48 y: -31 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-48; -31; 60)

take the red-triangle and put it inside the black cup

table([ eof x: -48 y: -31 z: 60, gripper: open, black-cup x: -50 y: -31 z: 0 , green-circle x: 5 y: -35 z: 0 , green-rectangle x: 30 y: 36 z: 0 , grey-rectangle x: 0 y: 12 z: 0 , red-rectangle x: -39 y: 57 z: 0 , red-triangle x: -48 y: -31 z: 0])

* go close to it * from(-48; -31; 60)* to (-48; -31; -10)

take the red-triangle and put it inside the black cup