Datasets:

marcomaccarini

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ds_robot_20

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* go home * from (29; 31; 300) * to (380; 0; 620)

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

table([ eof x: 29 y: 31 z: 300, gripper: open, black-cup x: 29 y: 31 z: 0 , green-circle x: -37 y: 10 z: 40 , green-rectangle x: 41 y: 7 z: 80 , grey-rectangle x: 29 y: 31 z: 0 , red-rectangle x: -4 y: 47 z: 80 , red-triangle x: -33 y: -53 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-44; 29; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -44 y: 29 z: 80 , red-triangle x: 17 y: -49 z: 40])

* go close to it * from(-44; 29; 140)* to (-44; 29; 70)

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

table([ eof x: -44 y: 29 z: 140, gripper: open, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -44 y: 29 z: 80 , red-triangle x: 17 y: -49 z: 40])

* grasp it * close gripper

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

table([ eof x: -44 y: 29 z: 70, gripper: open, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -44 y: 29 z: 80 , red-triangle x: 17 y: -49 z: 40])

* move up * from (-44; 29; 70) * to (-44; 29; 380)

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

table([ eof x: -44 y: 29 z: 70, gripper: close, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -44 y: 29 z: 80 , red-triangle x: 17 y: -49 z: 40])

* go above the other element * from (-44; 29; 380) * to (-56; 32; 300)

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

table([ eof x: -44 y: 29 z: 380, gripper: close, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -44 y: 29 z: 80 , red-triangle x: 17 y: -49 z: 40])

* leave the element * open gripper

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

table([ eof x: -56 y: 32 z: 300, gripper: close, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -56 y: 32 z: 300 , red-triangle x: 17 y: -49 z: 40])

* go home * from (-56; 32; 300) * to (380; 0; 620)

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

table([ eof x: -56 y: 32 z: 300, gripper: open, black-cup x: -56 y: 32 z: 0 , green-circle x: 21 y: -9 z: 40 , green-rectangle x: 18 y: 38 z: 80 , grey-rectangle x: -2 y: 45 z: 80 , red-rectangle x: -56 y: 32 z: 0 , red-triangle x: 17 y: -49 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-7; 26; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -7 y: 26 z: 40])

* go close to it * from(-7; 26; 100)* to (-7; 26; 30)

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

table([ eof x: -7 y: 26 z: 100, gripper: open, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -7 y: 26 z: 40])

* grasp it * close gripper

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

table([ eof x: -7 y: 26 z: 30, gripper: open, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -7 y: 26 z: 40])

* move up * from (-7; 26; 30) * to (-7; 26; 340)

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

table([ eof x: -7 y: 26 z: 30, gripper: close, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -7 y: 26 z: 40])

* go above the other element * from (-7; 26; 340) * to (-25; -19; 300)

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

table([ eof x: -7 y: 26 z: 340, gripper: close, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -7 y: 26 z: 40])

* leave the element * open gripper

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

table([ eof x: -25 y: -19 z: 300, gripper: close, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -25 y: -19 z: 300])

* go home * from (-25; -19; 300) * to (380; 0; 620)

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

table([ eof x: -25 y: -19 z: 300, gripper: open, black-cup x: -25 y: -19 z: 0 , green-circle x: 12 y: -41 z: 40 , green-rectangle x: -2 y: -26 z: 80 , grey-rectangle x: 54 y: 36 z: 80 , red-rectangle x: -9 y: -20 z: 80 , red-triangle x: -25 y: -19 z: 0])

* go above the element to pick * from (380; 0; 620) * to (6; -40; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -50 y: 21 z: 0 , green-circle x: 6 y: -40 z: 40 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* go close to it * from(6; -40; 100)* to (6; -40; 30)

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

table([ eof x: 6 y: -40 z: 100, gripper: open, black-cup x: -50 y: 21 z: 0 , green-circle x: 6 y: -40 z: 40 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* grasp it * close gripper

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

table([ eof x: 6 y: -40 z: 30, gripper: open, black-cup x: -50 y: 21 z: 0 , green-circle x: 6 y: -40 z: 40 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* move up * from (6; -40; 30) * to (6; -40; 340)

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

table([ eof x: 6 y: -40 z: 30, gripper: close, black-cup x: -50 y: 21 z: 0 , green-circle x: 6 y: -40 z: 40 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* go above the other element * from (6; -40; 340) * to (-50; 21; 300)

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

table([ eof x: 6 y: -40 z: 340, gripper: close, black-cup x: -50 y: 21 z: 0 , green-circle x: 6 y: -40 z: 40 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* leave the element * open gripper

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

table([ eof x: -50 y: 21 z: 300, gripper: close, black-cup x: -50 y: 21 z: 0 , green-circle x: -50 y: 21 z: 300 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* go home * from (-50; 21; 300) * to (380; 0; 620)

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

table([ eof x: -50 y: 21 z: 300, gripper: open, black-cup x: -50 y: 21 z: 0 , green-circle x: -50 y: 21 z: 0 , green-rectangle x: 21 y: -37 z: 80 , grey-rectangle x: 18 y: -37 z: 80 , red-rectangle x: 10 y: -45 z: 80 , red-triangle x: 22 y: 57 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-34; -5; 140)

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: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: -34 y: -5 z: 80 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* go close to it * from(-34; -5; 140)* to (-34; -5; 70)

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

table([ eof x: -34 y: -5 z: 140, gripper: open, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: -34 y: -5 z: 80 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* grasp it * close gripper

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

table([ eof x: -34 y: -5 z: 70, gripper: open, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: -34 y: -5 z: 80 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* move up * from (-34; -5; 70) * to (-34; -5; 380)

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

table([ eof x: -34 y: -5 z: 70, gripper: close, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: -34 y: -5 z: 80 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* go above the other element * from (-34; -5; 380) * to (10; -52; 300)

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

table([ eof x: -34 y: -5 z: 380, gripper: close, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: -34 y: -5 z: 80 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* leave the element * open gripper

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

table([ eof x: 10 y: -52 z: 300, gripper: close, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: 10 y: -52 z: 300 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* go home * from (10; -52; 300) * to (380; 0; 620)

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

table([ eof x: 10 y: -52 z: 300, gripper: open, black-cup x: 10 y: -52 z: 0 , green-circle x: 12 y: 47 z: 40 , green-rectangle x: 10 y: -52 z: 0 , grey-rectangle x: -17 y: -38 z: 80 , red-rectangle x: 6 y: -59 z: 80 , red-triangle x: -52 y: -39 z: 40])

* go above the element to pick * from (380; 0; 620) * to (6; -19; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 6 y: -19 z: 80 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* go close to it * from(6; -19; 140)* to (6; -19; 70)

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

table([ eof x: 6 y: -19 z: 140, gripper: open, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 6 y: -19 z: 80 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* grasp it * close gripper

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

table([ eof x: 6 y: -19 z: 70, gripper: open, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 6 y: -19 z: 80 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* move up * from (6; -19; 70) * to (6; -19; 380)

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

table([ eof x: 6 y: -19 z: 70, gripper: close, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 6 y: -19 z: 80 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* go above the other element * from (6; -19; 380) * to (15; 43; 300)

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

table([ eof x: 6 y: -19 z: 380, gripper: close, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 6 y: -19 z: 80 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* leave the element * open gripper

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

table([ eof x: 15 y: 43 z: 300, gripper: close, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 15 y: 43 z: 300 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* go home * from (15; 43; 300) * to (380; 0; 620)

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

table([ eof x: 15 y: 43 z: 300, gripper: open, black-cup x: 15 y: 43 z: 0 , green-circle x: -27 y: -4 z: 40 , green-rectangle x: 36 y: -15 z: 80 , grey-rectangle x: 15 y: 43 z: 0 , red-rectangle x: 3 y: -59 z: 80 , red-triangle x: 44 y: 19 z: 40])

* go above the element to pick * from (380; 0; 620) * to (38; 15; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: 38 y: 15 z: 80 , red-triangle x: -51 y: -41 z: 40])

* go close to it * from(38; 15; 140)* to (38; 15; 70)

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

table([ eof x: 38 y: 15 z: 140, gripper: open, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: 38 y: 15 z: 80 , red-triangle x: -51 y: -41 z: 40])

* grasp it * close gripper

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

table([ eof x: 38 y: 15 z: 70, gripper: open, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: 38 y: 15 z: 80 , red-triangle x: -51 y: -41 z: 40])

* move up * from (38; 15; 70) * to (38; 15; 380)

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

table([ eof x: 38 y: 15 z: 70, gripper: close, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: 38 y: 15 z: 80 , red-triangle x: -51 y: -41 z: 40])

* go above the other element * from (38; 15; 380) * to (-45; -38; 300)

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

table([ eof x: 38 y: 15 z: 380, gripper: close, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: 38 y: 15 z: 80 , red-triangle x: -51 y: -41 z: 40])

* leave the element * open gripper

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

table([ eof x: -45 y: -38 z: 300, gripper: close, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: -45 y: -38 z: 300 , red-triangle x: -51 y: -41 z: 40])

* go home * from (-45; -38; 300) * to (380; 0; 620)

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

table([ eof x: -45 y: -38 z: 300, gripper: open, black-cup x: -45 y: -38 z: 0 , green-circle x: -4 y: 57 z: 40 , green-rectangle x: -56 y: -59 z: 80 , grey-rectangle x: -48 y: -28 z: 80 , red-rectangle x: -45 y: -38 z: 0 , red-triangle x: -51 y: -41 z: 40])

* go above the element to pick * from (380; 0; 620) * to (13; -31; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 13 y: -31 z: 40])

* go close to it * from(13; -31; 100)* to (13; -31; 30)

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

table([ eof x: 13 y: -31 z: 100, gripper: open, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 13 y: -31 z: 40])

* grasp it * close gripper

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

table([ eof x: 13 y: -31 z: 30, gripper: open, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 13 y: -31 z: 40])

* move up * from (13; -31; 30) * to (13; -31; 340)

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

table([ eof x: 13 y: -31 z: 30, gripper: close, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 13 y: -31 z: 40])

* go above the other element * from (13; -31; 340) * to (16; 1; 300)

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

table([ eof x: 13 y: -31 z: 340, gripper: close, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 13 y: -31 z: 40])

* leave the element * open gripper

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

table([ eof x: 16 y: 1 z: 300, gripper: close, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 16 y: 1 z: 300])

* go home * from (16; 1; 300) * to (380; 0; 620)

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

table([ eof x: 16 y: 1 z: 300, gripper: open, black-cup x: 16 y: 1 z: 0 , green-circle x: 8 y: 24 z: 40 , green-rectangle x: -51 y: 26 z: 80 , grey-rectangle x: 16 y: -39 z: 80 , red-rectangle x: 48 y: 52 z: 80 , red-triangle x: 16 y: 1 z: 0])

* go above the element to pick * from (380; 0; 620) * to (33; -48; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -38 y: 30 z: 0 , green-circle x: 33 y: -48 z: 40 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* go close to it * from(33; -48; 100)* to (33; -48; 30)

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

table([ eof x: 33 y: -48 z: 100, gripper: open, black-cup x: -38 y: 30 z: 0 , green-circle x: 33 y: -48 z: 40 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* grasp it * close gripper

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

table([ eof x: 33 y: -48 z: 30, gripper: open, black-cup x: -38 y: 30 z: 0 , green-circle x: 33 y: -48 z: 40 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* move up * from (33; -48; 30) * to (33; -48; 340)

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

table([ eof x: 33 y: -48 z: 30, gripper: close, black-cup x: -38 y: 30 z: 0 , green-circle x: 33 y: -48 z: 40 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* go above the other element * from (33; -48; 340) * to (-38; 30; 300)

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

table([ eof x: 33 y: -48 z: 340, gripper: close, black-cup x: -38 y: 30 z: 0 , green-circle x: 33 y: -48 z: 40 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* leave the element * open gripper

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

table([ eof x: -38 y: 30 z: 300, gripper: close, black-cup x: -38 y: 30 z: 0 , green-circle x: -38 y: 30 z: 300 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* go home * from (-38; 30; 300) * to (380; 0; 620)

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

table([ eof x: -38 y: 30 z: 300, gripper: open, black-cup x: -38 y: 30 z: 0 , green-circle x: -38 y: 30 z: 0 , green-rectangle x: -56 y: 51 z: 80 , grey-rectangle x: 23 y: 38 z: 80 , red-rectangle x: 48 y: 37 z: 80 , red-triangle x: -56 y: -33 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-54; -43; 140)

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: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: -54 y: -43 z: 80 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* go close to it * from(-54; -43; 140)* to (-54; -43; 70)

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

table([ eof x: -54 y: -43 z: 140, gripper: open, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: -54 y: -43 z: 80 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* grasp it * close gripper

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

table([ eof x: -54 y: -43 z: 70, gripper: open, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: -54 y: -43 z: 80 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* move up * from (-54; -43; 70) * to (-54; -43; 380)

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

table([ eof x: -54 y: -43 z: 70, gripper: close, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: -54 y: -43 z: 80 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* go above the other element * from (-54; -43; 380) * to (45; -5; 300)

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

table([ eof x: -54 y: -43 z: 380, gripper: close, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: -54 y: -43 z: 80 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* leave the element * open gripper

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

table([ eof x: 45 y: -5 z: 300, gripper: close, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: 45 y: -5 z: 300 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* go home * from (45; -5; 300) * to (380; 0; 620)

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

table([ eof x: 45 y: -5 z: 300, gripper: open, black-cup x: 45 y: -5 z: 0 , green-circle x: -47 y: -57 z: 40 , green-rectangle x: 45 y: -5 z: 0 , grey-rectangle x: -42 y: -11 z: 80 , red-rectangle x: -8 y: -36 z: 80 , red-triangle x: -17 y: -27 z: 40])

* go above the element to pick * from (380; 0; 620) * to (4; 34; 140)

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: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: 4 y: 34 z: 80 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* go close to it * from(4; 34; 140)* to (4; 34; 70)

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

table([ eof x: 4 y: 34 z: 140, gripper: open, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: 4 y: 34 z: 80 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* grasp it * close gripper

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

table([ eof x: 4 y: 34 z: 70, gripper: open, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: 4 y: 34 z: 80 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* move up * from (4; 34; 70) * to (4; 34; 380)

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

table([ eof x: 4 y: 34 z: 70, gripper: close, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: 4 y: 34 z: 80 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* go above the other element * from (4; 34; 380) * to (-10; -19; 300)

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

table([ eof x: 4 y: 34 z: 380, gripper: close, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: 4 y: 34 z: 80 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* leave the element * open gripper

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

table([ eof x: -10 y: -19 z: 300, gripper: close, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: -10 y: -19 z: 300 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* go home * from (-10; -19; 300) * to (380; 0; 620)

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

table([ eof x: -10 y: -19 z: 300, gripper: open, black-cup x: -10 y: -19 z: 0 , green-circle x: -16 y: -36 z: 40 , green-rectangle x: 3 y: 36 z: 80 , grey-rectangle x: -10 y: -19 z: 0 , red-rectangle x: 36 y: -8 z: 80 , red-triangle x: -3 y: -37 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-7; 11; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: -7 y: 11 z: 80 , red-triangle x: 34 y: -16 z: 40])

* go close to it * from(-7; 11; 140)* to (-7; 11; 70)

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

table([ eof x: -7 y: 11 z: 140, gripper: open, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: -7 y: 11 z: 80 , red-triangle x: 34 y: -16 z: 40])

* grasp it * close gripper

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

table([ eof x: -7 y: 11 z: 70, gripper: open, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: -7 y: 11 z: 80 , red-triangle x: 34 y: -16 z: 40])

* move up * from (-7; 11; 70) * to (-7; 11; 380)

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

table([ eof x: -7 y: 11 z: 70, gripper: close, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: -7 y: 11 z: 80 , red-triangle x: 34 y: -16 z: 40])

* go above the other element * from (-7; 11; 380) * to (57; 37; 300)

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

table([ eof x: -7 y: 11 z: 380, gripper: close, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: -7 y: 11 z: 80 , red-triangle x: 34 y: -16 z: 40])

* leave the element * open gripper

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

table([ eof x: 57 y: 37 z: 300, gripper: close, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: 57 y: 37 z: 300 , red-triangle x: 34 y: -16 z: 40])

* go home * from (57; 37; 300) * to (380; 0; 620)

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

table([ eof x: 57 y: 37 z: 300, gripper: open, black-cup x: 57 y: 37 z: 0 , green-circle x: 59 y: -39 z: 40 , green-rectangle x: 55 y: 13 z: 80 , grey-rectangle x: -35 y: 8 z: 80 , red-rectangle x: 57 y: 37 z: 0 , red-triangle x: 34 y: -16 z: 40])

* go above the element to pick * from (380; 0; 620) * to (10; 11; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: 10 y: 11 z: 40])

* go close to it * from(10; 11; 100)* to (10; 11; 30)

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

table([ eof x: 10 y: 11 z: 100, gripper: open, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: 10 y: 11 z: 40])

* grasp it * close gripper

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

table([ eof x: 10 y: 11 z: 30, gripper: open, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: 10 y: 11 z: 40])

* move up * from (10; 11; 30) * to (10; 11; 340)

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

table([ eof x: 10 y: 11 z: 30, gripper: close, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: 10 y: 11 z: 40])

* go above the other element * from (10; 11; 340) * to (-55; -4; 300)

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

table([ eof x: 10 y: 11 z: 340, gripper: close, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: 10 y: 11 z: 40])

* leave the element * open gripper

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

table([ eof x: -55 y: -4 z: 300, gripper: close, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: -55 y: -4 z: 300])

* go home * from (-55; -4; 300) * to (380; 0; 620)

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

table([ eof x: -55 y: -4 z: 300, gripper: open, black-cup x: -55 y: -4 z: 0 , green-circle x: -37 y: 13 z: 40 , green-rectangle x: 38 y: -20 z: 80 , grey-rectangle x: -23 y: 11 z: 80 , red-rectangle x: -51 y: 10 z: 80 , red-triangle x: -55 y: -4 z: 0])

* go above the element to pick * from (380; 0; 620) * to (6; -11; 100)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 3 y: -8 z: 0 , green-circle x: 6 y: -11 z: 40 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* go close to it * from(6; -11; 100)* to (6; -11; 30)

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

table([ eof x: 6 y: -11 z: 100, gripper: open, black-cup x: 3 y: -8 z: 0 , green-circle x: 6 y: -11 z: 40 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* grasp it * close gripper

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

table([ eof x: 6 y: -11 z: 30, gripper: open, black-cup x: 3 y: -8 z: 0 , green-circle x: 6 y: -11 z: 40 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* move up * from (6; -11; 30) * to (6; -11; 340)

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

table([ eof x: 6 y: -11 z: 30, gripper: close, black-cup x: 3 y: -8 z: 0 , green-circle x: 6 y: -11 z: 40 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* go above the other element * from (6; -11; 340) * to (3; -8; 300)

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

table([ eof x: 6 y: -11 z: 340, gripper: close, black-cup x: 3 y: -8 z: 0 , green-circle x: 6 y: -11 z: 40 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* leave the element * open gripper

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

table([ eof x: 3 y: -8 z: 300, gripper: close, black-cup x: 3 y: -8 z: 0 , green-circle x: 3 y: -8 z: 300 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* go home * from (3; -8; 300) * to (380; 0; 620)

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

table([ eof x: 3 y: -8 z: 300, gripper: open, black-cup x: 3 y: -8 z: 0 , green-circle x: 3 y: -8 z: 0 , green-rectangle x: -54 y: 36 z: 80 , grey-rectangle x: -12 y: -37 z: 80 , red-rectangle x: -2 y: 2 z: 80 , red-triangle x: 54 y: 33 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-45; 9; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: -45 y: 9 z: 80 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* go close to it * from(-45; 9; 140)* to (-45; 9; 70)

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

table([ eof x: -45 y: 9 z: 140, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: -45 y: 9 z: 80 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* grasp it * close gripper

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

table([ eof x: -45 y: 9 z: 70, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: -45 y: 9 z: 80 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* move up * from (-45; 9; 70) * to (-45; 9; 380)

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

table([ eof x: -45 y: 9 z: 70, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: -45 y: 9 z: 80 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* go above the other element * from (-45; 9; 380) * to (52; -55; 300)

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

table([ eof x: -45 y: 9 z: 380, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: -45 y: 9 z: 80 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* leave the element * open gripper

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

table([ eof x: 52 y: -55 z: 300, gripper: close, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: 52 y: -55 z: 300 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* go home * from (52; -55; 300) * to (380; 0; 620)

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

table([ eof x: 52 y: -55 z: 300, gripper: open, black-cup x: 52 y: -55 z: 0 , green-circle x: 54 y: -26 z: 40 , green-rectangle x: 52 y: -55 z: 0 , grey-rectangle x: 31 y: -41 z: 80 , red-rectangle x: 44 y: 45 z: 80 , red-triangle x: 53 y: 7 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-16; -1; 140)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 25 y: -10 z: 0 , green-circle x: 57 y: -30 z: 40 , green-rectangle x: 39 y: 46 z: 80 , grey-rectangle x: -16 y: -1 z: 80 , red-rectangle x: -12 y: -10 z: 80 , red-triangle x: 8 y: -3 z: 40])