Datasets:

marcomaccarini

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ds_robot_20

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* go close to it * from(-16; -1; 140)* to (-16; -1; 70)

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

table([ eof x: -16 y: -1 z: 140, 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])

* grasp it * close gripper

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

table([ eof x: -16 y: -1 z: 70, 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])

* move up * from (-16; -1; 70) * to (-16; -1; 380)

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

table([ eof x: -16 y: -1 z: 70, gripper: close, 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])

* go above the other element * from (-16; -1; 380) * to (25; -10; 300)

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

table([ eof x: -16 y: -1 z: 380, gripper: close, 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])

* leave the element * open gripper

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

table([ eof x: 25 y: -10 z: 300, gripper: close, 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: 25 y: -10 z: 300 , red-rectangle x: -12 y: -10 z: 80 , red-triangle x: 8 y: -3 z: 40])

* go home * from (25; -10; 300) * to (380; 0; 620)

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

table([ eof x: 25 y: -10 z: 300, 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: 25 y: -10 z: 0 , red-rectangle x: -12 y: -10 z: 80 , red-triangle x: 8 y: -3 z: 40])

* go above the element to pick * from (380; 0; 620) * to (15; -48; 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: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 15 y: -48 z: 80 , red-triangle x: 3 y: -39 z: 40])

* go close to it * from(15; -48; 140)* to (15; -48; 70)

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

table([ eof x: 15 y: -48 z: 140, gripper: open, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 15 y: -48 z: 80 , red-triangle x: 3 y: -39 z: 40])

* grasp it * close gripper

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

table([ eof x: 15 y: -48 z: 70, gripper: open, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 15 y: -48 z: 80 , red-triangle x: 3 y: -39 z: 40])

* move up * from (15; -48; 70) * to (15; -48; 380)

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

table([ eof x: 15 y: -48 z: 70, gripper: close, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 15 y: -48 z: 80 , red-triangle x: 3 y: -39 z: 40])

* go above the other element * from (15; -48; 380) * to (5; -29; 300)

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

table([ eof x: 15 y: -48 z: 380, gripper: close, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 15 y: -48 z: 80 , red-triangle x: 3 y: -39 z: 40])

* leave the element * open gripper

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

table([ eof x: 5 y: -29 z: 300, gripper: close, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 5 y: -29 z: 300 , red-triangle x: 3 y: -39 z: 40])

* go home * from (5; -29; 300) * to (380; 0; 620)

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

table([ eof x: 5 y: -29 z: 300, gripper: open, black-cup x: 5 y: -29 z: 0 , green-circle x: 28 y: -38 z: 40 , green-rectangle x: -27 y: 41 z: 80 , grey-rectangle x: 5 y: -1 z: 80 , red-rectangle x: 5 y: -29 z: 0 , red-triangle x: 3 y: -39 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-31; 34; 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: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -31 y: 34 z: 40])

* go close to it * from(-31; 34; 100)* to (-31; 34; 30)

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

table([ eof x: -31 y: 34 z: 100, gripper: open, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -31 y: 34 z: 40])

* grasp it * close gripper

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

table([ eof x: -31 y: 34 z: 30, gripper: open, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -31 y: 34 z: 40])

* move up * from (-31; 34; 30) * to (-31; 34; 340)

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

table([ eof x: -31 y: 34 z: 30, gripper: close, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -31 y: 34 z: 40])

* go above the other element * from (-31; 34; 340) * to (-20; 24; 300)

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

table([ eof x: -31 y: 34 z: 340, gripper: close, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -31 y: 34 z: 40])

* leave the element * open gripper

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

table([ eof x: -20 y: 24 z: 300, gripper: close, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -20 y: 24 z: 300])

* go home * from (-20; 24; 300) * to (380; 0; 620)

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

table([ eof x: -20 y: 24 z: 300, gripper: open, black-cup x: -20 y: 24 z: 0 , green-circle x: -28 y: -15 z: 40 , green-rectangle x: 5 y: 8 z: 80 , grey-rectangle x: -35 y: -4 z: 80 , red-rectangle x: 38 y: -31 z: 80 , red-triangle x: -20 y: 24 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-44; -45; 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: 55 y: -18 z: 0 , green-circle x: -44 y: -45 z: 40 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* go close to it * from(-44; -45; 100)* to (-44; -45; 30)

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

table([ eof x: -44 y: -45 z: 100, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -44 y: -45 z: 40 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* grasp it * close gripper

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

table([ eof x: -44 y: -45 z: 30, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: -44 y: -45 z: 40 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* move up * from (-44; -45; 30) * to (-44; -45; 340)

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

table([ eof x: -44 y: -45 z: 30, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: -44 y: -45 z: 40 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* go above the other element * from (-44; -45; 340) * to (55; -18; 300)

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

table([ eof x: -44 y: -45 z: 340, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: -44 y: -45 z: 40 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* leave the element * open gripper

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

table([ eof x: 55 y: -18 z: 300, gripper: close, black-cup x: 55 y: -18 z: 0 , green-circle x: 55 y: -18 z: 300 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* go home * from (55; -18; 300) * to (380; 0; 620)

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

table([ eof x: 55 y: -18 z: 300, gripper: open, black-cup x: 55 y: -18 z: 0 , green-circle x: 55 y: -18 z: 0 , green-rectangle x: 46 y: 40 z: 80 , grey-rectangle x: 49 y: 53 z: 80 , red-rectangle x: -43 y: -53 z: 80 , red-triangle x: -15 y: 4 z: 40])

* go above the element to pick * from (380; 0; 620) * to (45; -53; 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: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: 45 y: -53 z: 80 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* go close to it * from(45; -53; 140)* to (45; -53; 70)

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

table([ eof x: 45 y: -53 z: 140, gripper: open, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: 45 y: -53 z: 80 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* grasp it * close gripper

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

table([ eof x: 45 y: -53 z: 70, gripper: open, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: 45 y: -53 z: 80 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* move up * from (45; -53; 70) * to (45; -53; 380)

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

table([ eof x: 45 y: -53 z: 70, gripper: close, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: 45 y: -53 z: 80 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* go above the other element * from (45; -53; 380) * to (-6; 4; 300)

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

table([ eof x: 45 y: -53 z: 380, gripper: close, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: 45 y: -53 z: 80 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* leave the element * open gripper

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

table([ eof x: -6 y: 4 z: 300, gripper: close, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: -6 y: 4 z: 300 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* go home * from (-6; 4; 300) * to (380; 0; 620)

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

table([ eof x: -6 y: 4 z: 300, gripper: open, black-cup x: -6 y: 4 z: 0 , green-circle x: -27 y: -57 z: 40 , green-rectangle x: -6 y: 4 z: 0 , grey-rectangle x: -56 y: -5 z: 80 , red-rectangle x: 13 y: -42 z: 80 , red-triangle x: -14 y: 4 z: 40])

* go above the element to pick * from (380; 0; 620) * to (3; -36; 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: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 3 y: -36 z: 80 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* go close to it * from(3; -36; 140)* to (3; -36; 70)

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

table([ eof x: 3 y: -36 z: 140, gripper: open, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 3 y: -36 z: 80 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* grasp it * close gripper

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

table([ eof x: 3 y: -36 z: 70, gripper: open, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 3 y: -36 z: 80 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* move up * from (3; -36; 70) * to (3; -36; 380)

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

table([ eof x: 3 y: -36 z: 70, gripper: close, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 3 y: -36 z: 80 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* go above the other element * from (3; -36; 380) * to (28; 51; 300)

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

table([ eof x: 3 y: -36 z: 380, gripper: close, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 3 y: -36 z: 80 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* leave the element * open gripper

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

table([ eof x: 28 y: 51 z: 300, gripper: close, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 28 y: 51 z: 300 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* go home * from (28; 51; 300) * to (380; 0; 620)

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

table([ eof x: 28 y: 51 z: 300, gripper: open, black-cup x: 28 y: 51 z: 0 , green-circle x: 29 y: 29 z: 40 , green-rectangle x: -59 y: -48 z: 80 , grey-rectangle x: 28 y: 51 z: 0 , red-rectangle x: 23 y: -50 z: 80 , red-triangle x: -44 y: 14 z: 40])

* go above the element to pick * from (380; 0; 620) * to (26; 21; 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: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: 26 y: 21 z: 80 , red-triangle x: -37 y: 52 z: 40])

* go close to it * from(26; 21; 140)* to (26; 21; 70)

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

table([ eof x: 26 y: 21 z: 140, gripper: open, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: 26 y: 21 z: 80 , red-triangle x: -37 y: 52 z: 40])

* grasp it * close gripper

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

table([ eof x: 26 y: 21 z: 70, gripper: open, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: 26 y: 21 z: 80 , red-triangle x: -37 y: 52 z: 40])

* move up * from (26; 21; 70) * to (26; 21; 380)

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

table([ eof x: 26 y: 21 z: 70, gripper: close, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: 26 y: 21 z: 80 , red-triangle x: -37 y: 52 z: 40])

* go above the other element * from (26; 21; 380) * to (-5; -30; 300)

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

table([ eof x: 26 y: 21 z: 380, gripper: close, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: 26 y: 21 z: 80 , red-triangle x: -37 y: 52 z: 40])

* leave the element * open gripper

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

table([ eof x: -5 y: -30 z: 300, gripper: close, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: -5 y: -30 z: 300 , red-triangle x: -37 y: 52 z: 40])

* go home * from (-5; -30; 300) * to (380; 0; 620)

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

table([ eof x: -5 y: -30 z: 300, gripper: open, black-cup x: -5 y: -30 z: 0 , green-circle x: 53 y: 0 z: 40 , green-rectangle x: -58 y: 31 z: 80 , grey-rectangle x: -18 y: -32 z: 80 , red-rectangle x: -5 y: -30 z: 0 , red-triangle x: -37 y: 52 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-16; -48; 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: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: -16 y: -48 z: 40])

* go close to it * from(-16; -48; 100)* to (-16; -48; 30)

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

table([ eof x: -16 y: -48 z: 100, gripper: open, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: -16 y: -48 z: 40])

* grasp it * close gripper

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

table([ eof x: -16 y: -48 z: 30, gripper: open, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: -16 y: -48 z: 40])

* move up * from (-16; -48; 30) * to (-16; -48; 340)

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

table([ eof x: -16 y: -48 z: 30, gripper: close, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: -16 y: -48 z: 40])

* go above the other element * from (-16; -48; 340) * to (12; 55; 300)

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

table([ eof x: -16 y: -48 z: 340, gripper: close, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: -16 y: -48 z: 40])

* leave the element * open gripper

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

table([ eof x: 12 y: 55 z: 300, gripper: close, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: 12 y: 55 z: 300])

* go home * from (12; 55; 300) * to (380; 0; 620)

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

table([ eof x: 12 y: 55 z: 300, gripper: open, black-cup x: 12 y: 55 z: 0 , green-circle x: 49 y: -8 z: 40 , green-rectangle x: 36 y: -22 z: 80 , grey-rectangle x: -28 y: 0 z: 80 , red-rectangle x: 8 y: -43 z: 80 , red-triangle x: 12 y: 55 z: 0])

* go above the element to pick * from (380; 0; 620) * to (-55; 3; 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: -23 y: -51 z: 0 , green-circle x: -55 y: 3 z: 40 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* go close to it * from(-55; 3; 100)* to (-55; 3; 30)

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

table([ eof x: -55 y: 3 z: 100, gripper: open, black-cup x: -23 y: -51 z: 0 , green-circle x: -55 y: 3 z: 40 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* grasp it * close gripper

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

table([ eof x: -55 y: 3 z: 30, gripper: open, black-cup x: -23 y: -51 z: 0 , green-circle x: -55 y: 3 z: 40 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* move up * from (-55; 3; 30) * to (-55; 3; 340)

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

table([ eof x: -55 y: 3 z: 30, gripper: close, black-cup x: -23 y: -51 z: 0 , green-circle x: -55 y: 3 z: 40 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* go above the other element * from (-55; 3; 340) * to (-23; -51; 300)

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

table([ eof x: -55 y: 3 z: 340, gripper: close, black-cup x: -23 y: -51 z: 0 , green-circle x: -55 y: 3 z: 40 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* leave the element * open gripper

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

table([ eof x: -23 y: -51 z: 300, gripper: close, black-cup x: -23 y: -51 z: 0 , green-circle x: -23 y: -51 z: 300 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* go home * from (-23; -51; 300) * to (380; 0; 620)

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

table([ eof x: -23 y: -51 z: 300, gripper: open, black-cup x: -23 y: -51 z: 0 , green-circle x: -23 y: -51 z: 0 , green-rectangle x: 43 y: -17 z: 80 , grey-rectangle x: 8 y: -6 z: 80 , red-rectangle x: 37 y: 44 z: 80 , red-triangle x: 54 y: 23 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-9; 35; 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: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -9 y: 35 z: 80 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* go close to it * from(-9; 35; 140)* to (-9; 35; 70)

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

table([ eof x: -9 y: 35 z: 140, gripper: open, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -9 y: 35 z: 80 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* grasp it * close gripper

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

table([ eof x: -9 y: 35 z: 70, gripper: open, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -9 y: 35 z: 80 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* move up * from (-9; 35; 70) * to (-9; 35; 380)

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

table([ eof x: -9 y: 35 z: 70, gripper: close, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -9 y: 35 z: 80 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* go above the other element * from (-9; 35; 380) * to (-39; 13; 300)

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

table([ eof x: -9 y: 35 z: 380, gripper: close, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -9 y: 35 z: 80 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* leave the element * open gripper

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

table([ eof x: -39 y: 13 z: 300, gripper: close, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -39 y: 13 z: 300 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* go home * from (-39; 13; 300) * to (380; 0; 620)

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

table([ eof x: -39 y: 13 z: 300, gripper: open, black-cup x: -39 y: 13 z: 0 , green-circle x: 6 y: -38 z: 40 , green-rectangle x: -39 y: 13 z: 0 , grey-rectangle x: 32 y: 35 z: 80 , red-rectangle x: -13 y: 13 z: 80 , red-triangle x: 40 y: -25 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-2; 17; 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: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: -2 y: 17 z: 80 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* go close to it * from(-2; 17; 140)* to (-2; 17; 70)

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

table([ eof x: -2 y: 17 z: 140, gripper: open, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: -2 y: 17 z: 80 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* grasp it * close gripper

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

table([ eof x: -2 y: 17 z: 70, gripper: open, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: -2 y: 17 z: 80 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* move up * from (-2; 17; 70) * to (-2; 17; 380)

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

table([ eof x: -2 y: 17 z: 70, gripper: close, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: -2 y: 17 z: 80 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* go above the other element * from (-2; 17; 380) * to (27; -42; 300)

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

table([ eof x: -2 y: 17 z: 380, gripper: close, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: -2 y: 17 z: 80 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* leave the element * open gripper

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

table([ eof x: 27 y: -42 z: 300, gripper: close, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: 27 y: -42 z: 300 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* go home * from (27; -42; 300) * to (380; 0; 620)

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

table([ eof x: 27 y: -42 z: 300, gripper: open, black-cup x: 27 y: -42 z: 0 , green-circle x: -47 y: 16 z: 40 , green-rectangle x: -9 y: 59 z: 80 , grey-rectangle x: 27 y: -42 z: 0 , red-rectangle x: -26 y: -55 z: 80 , red-triangle x: 29 y: 42 z: 40])

* go above the element to pick * from (380; 0; 620) * to (59; 32; 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: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: 59 y: 32 z: 80 , red-triangle x: -35 y: -4 z: 40])

* go close to it * from(59; 32; 140)* to (59; 32; 70)

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

table([ eof x: 59 y: 32 z: 140, gripper: open, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: 59 y: 32 z: 80 , red-triangle x: -35 y: -4 z: 40])

* grasp it * close gripper

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

table([ eof x: 59 y: 32 z: 70, gripper: open, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: 59 y: 32 z: 80 , red-triangle x: -35 y: -4 z: 40])

* move up * from (59; 32; 70) * to (59; 32; 380)

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

table([ eof x: 59 y: 32 z: 70, gripper: close, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: 59 y: 32 z: 80 , red-triangle x: -35 y: -4 z: 40])

* go above the other element * from (59; 32; 380) * to (-57; 33; 300)

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

table([ eof x: 59 y: 32 z: 380, gripper: close, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: 59 y: 32 z: 80 , red-triangle x: -35 y: -4 z: 40])

* leave the element * open gripper

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

table([ eof x: -57 y: 33 z: 300, gripper: close, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: -57 y: 33 z: 300 , red-triangle x: -35 y: -4 z: 40])

* go home * from (-57; 33; 300) * to (380; 0; 620)

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

table([ eof x: -57 y: 33 z: 300, gripper: open, black-cup x: -57 y: 33 z: 0 , green-circle x: -8 y: 5 z: 40 , green-rectangle x: 16 y: 29 z: 80 , grey-rectangle x: -54 y: -33 z: 80 , red-rectangle x: -57 y: 33 z: 0 , red-triangle x: -35 y: -4 z: 40])

* go above the element to pick * from (380; 0; 620) * to (33; -47; 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: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 33 y: -47 z: 40])

* go close to it * from(33; -47; 100)* to (33; -47; 30)

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

table([ eof x: 33 y: -47 z: 100, gripper: open, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 33 y: -47 z: 40])

* grasp it * close gripper

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

table([ eof x: 33 y: -47 z: 30, gripper: open, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 33 y: -47 z: 40])

* move up * from (33; -47; 30) * to (33; -47; 340)

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

table([ eof x: 33 y: -47 z: 30, gripper: close, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 33 y: -47 z: 40])

* go above the other element * from (33; -47; 340) * to (13; 57; 300)

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

table([ eof x: 33 y: -47 z: 340, gripper: close, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 33 y: -47 z: 40])

* leave the element * open gripper

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

table([ eof x: 13 y: 57 z: 300, gripper: close, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 13 y: 57 z: 300])

* go home * from (13; 57; 300) * to (380; 0; 620)

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

table([ eof x: 13 y: 57 z: 300, gripper: open, black-cup x: 13 y: 57 z: 0 , green-circle x: -57 y: -6 z: 40 , green-rectangle x: -55 y: -43 z: 80 , grey-rectangle x: 34 y: -56 z: 80 , red-rectangle x: 46 y: 57 z: 80 , red-triangle x: 13 y: 57 z: 0])

* go above the element to pick * from (380; 0; 620) * to (30; 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: -18 y: 51 z: 0 , green-circle x: 30 y: 40 z: 40 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

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

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

table([ eof x: 30 y: 40 z: 100, gripper: open, black-cup x: -18 y: 51 z: 0 , green-circle x: 30 y: 40 z: 40 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

* grasp it * close gripper

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

table([ eof x: 30 y: 40 z: 30, gripper: open, black-cup x: -18 y: 51 z: 0 , green-circle x: 30 y: 40 z: 40 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

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

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

table([ eof x: 30 y: 40 z: 30, gripper: close, black-cup x: -18 y: 51 z: 0 , green-circle x: 30 y: 40 z: 40 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

* go above the other element * from (30; 40; 340) * to (-18; 51; 300)

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

table([ eof x: 30 y: 40 z: 340, gripper: close, black-cup x: -18 y: 51 z: 0 , green-circle x: 30 y: 40 z: 40 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

* leave the element * open gripper

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

table([ eof x: -18 y: 51 z: 300, gripper: close, black-cup x: -18 y: 51 z: 0 , green-circle x: -18 y: 51 z: 300 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

* go home * from (-18; 51; 300) * to (380; 0; 620)

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

table([ eof x: -18 y: 51 z: 300, gripper: open, black-cup x: -18 y: 51 z: 0 , green-circle x: -18 y: 51 z: 0 , green-rectangle x: 41 y: -54 z: 80 , grey-rectangle x: 27 y: 44 z: 80 , red-rectangle x: 38 y: -43 z: 80 , red-triangle x: -27 y: -36 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-43; -46; 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: -19 y: 9 z: 0 , green-circle x: 11 y: 52 z: 40 , green-rectangle x: -43 y: -46 z: 80 , grey-rectangle x: 48 y: -13 z: 80 , red-rectangle x: 8 y: -44 z: 80 , red-triangle x: 38 y: -48 z: 40])

* go close to it * from(-43; -46; 140)* to (-43; -46; 70)

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

table([ eof x: -43 y: -46 z: 140, gripper: open, black-cup x: -19 y: 9 z: 0 , green-circle x: 11 y: 52 z: 40 , green-rectangle x: -43 y: -46 z: 80 , grey-rectangle x: 48 y: -13 z: 80 , red-rectangle x: 8 y: -44 z: 80 , red-triangle x: 38 y: -48 z: 40])

* grasp it * close gripper

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

table([ eof x: -43 y: -46 z: 70, gripper: open, black-cup x: -19 y: 9 z: 0 , green-circle x: 11 y: 52 z: 40 , green-rectangle x: -43 y: -46 z: 80 , grey-rectangle x: 48 y: -13 z: 80 , red-rectangle x: 8 y: -44 z: 80 , red-triangle x: 38 y: -48 z: 40])