Datasets:

marcomaccarini

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ds_robot_21

like 0

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -58 y: 34 z: 0 , green-circle x: -3 y: 32 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-3; 32; 100)

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

table([ eof x: -3 y: 32 z: 100, gripper: open, black-cup x: -58 y: 34 z: 0 , green-circle x: -3 y: 32 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* go close to it * from(-3; 32; 100)* to (-3; 32; 30)

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

table([ eof x: -3 y: 32 z: 30, gripper: open, black-cup x: -58 y: 34 z: 0 , green-circle x: -3 y: 32 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* grasp it * close gripper

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

table([ eof x: -3 y: 32 z: 30, gripper: close, black-cup x: -58 y: 34 z: 0 , green-circle x: -3 y: 32 z: 40 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* move up * from (-3; 32; 30) * to (-3; 32; 340)

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

table([ eof x: -3 y: 32 z: 340, gripper: close, black-cup x: -58 y: 34 z: 0 , green-circle x: -3 y: 32 z: 340 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* go above the other element * from (-3; 32; 640) * to (-58; 34; 300)

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

table([ eof x: -58 y: 34 z: 300, gripper: close, black-cup x: -58 y: 34 z: 0 , green-circle x: -58 y: 34 z: 300 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* leave the element * open gripper

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

table([ eof x: -58 y: 34 z: 300, gripper: open, black-cup x: -58 y: 34 z: 0 , green-circle x: -58 y: 34 z: 0 , green-rectangle x: 12 y: 56 z: 80 , grey-rectangle x: 27 y: 25 z: 80 , red-rectangle x: 59 y: 1 z: 80 , red-triangle x: -1 y: 5 z: 40])

* go home * from (-58; 34; 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: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: -46 y: -43 z: 80 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-46; -43; 140)

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

table([ eof x: -46 y: -43 z: 140, gripper: open, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: -46 y: -43 z: 80 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

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

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

table([ eof x: -46 y: -43 z: 70, gripper: open, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: -46 y: -43 z: 80 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* grasp it * close gripper

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

table([ eof x: -46 y: -43 z: 70, gripper: close, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: -46 y: -43 z: 80 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* move up * from (-46; -43; 70) * to (-46; -43; 380)

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

table([ eof x: -46 y: -43 z: 380, gripper: close, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: -46 y: -43 z: 380 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* go above the other element * from (-46; -43; 680) * to (35; 11; 300)

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

table([ eof x: 35 y: 11 z: 300, gripper: close, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: 35 y: 11 z: 300 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* leave the element * open gripper

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

table([ eof x: 35 y: 11 z: 300, gripper: open, black-cup x: 35 y: 11 z: 0 , green-circle x: -4 y: -27 z: 40 , green-rectangle x: 35 y: 11 z: 0 , grey-rectangle x: 29 y: -25 z: 80 , red-rectangle x: -35 y: -54 z: 80 , red-triangle x: 33 y: -56 z: 40])

* go home * from (35; 11; 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: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 27 y: 27 z: 80 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* go above the element to pick * from (380; 0; 620) * to (27; 27; 140)

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

table([ eof x: 27 y: 27 z: 140, gripper: open, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 27 y: 27 z: 80 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* go close to it * from(27; 27; 140)* to (27; 27; 70)

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

table([ eof x: 27 y: 27 z: 70, gripper: open, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 27 y: 27 z: 80 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* grasp it * close gripper

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

table([ eof x: 27 y: 27 z: 70, gripper: close, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 27 y: 27 z: 80 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* move up * from (27; 27; 70) * to (27; 27; 380)

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

table([ eof x: 27 y: 27 z: 380, gripper: close, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 27 y: 27 z: 380 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* go above the other element * from (27; 27; 680) * to (12; -40; 300)

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

table([ eof x: 12 y: -40 z: 300, gripper: close, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 12 y: -40 z: 300 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* leave the element * open gripper

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

table([ eof x: 12 y: -40 z: 300, gripper: open, black-cup x: 12 y: -40 z: 0 , green-circle x: 28 y: -37 z: 40 , green-rectangle x: -53 y: -41 z: 80 , grey-rectangle x: 12 y: -40 z: 0 , red-rectangle x: -51 y: -18 z: 80 , red-triangle x: 53 y: 47 z: 40])

* go home * from (12; -40; 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: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: -7 y: -3 z: 80 , red-triangle x: -39 y: 55 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-7; -3; 140)

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

table([ eof x: -7 y: -3 z: 140, gripper: open, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: -7 y: -3 z: 80 , red-triangle x: -39 y: 55 z: 40])

* go close to it * from(-7; -3; 140)* to (-7; -3; 70)

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

table([ eof x: -7 y: -3 z: 70, gripper: open, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: -7 y: -3 z: 80 , red-triangle x: -39 y: 55 z: 40])

* grasp it * close gripper

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

table([ eof x: -7 y: -3 z: 70, gripper: close, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: -7 y: -3 z: 80 , red-triangle x: -39 y: 55 z: 40])

* move up * from (-7; -3; 70) * to (-7; -3; 380)

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

table([ eof x: -7 y: -3 z: 380, gripper: close, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: -7 y: -3 z: 380 , red-triangle x: -39 y: 55 z: 40])

* go above the other element * from (-7; -3; 680) * to (30; 4; 300)

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

table([ eof x: 30 y: 4 z: 300, gripper: close, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: 30 y: 4 z: 300 , red-triangle x: -39 y: 55 z: 40])

* leave the element * open gripper

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

table([ eof x: 30 y: 4 z: 300, gripper: open, black-cup x: 30 y: 4 z: 0 , green-circle x: -54 y: 1 z: 40 , green-rectangle x: 56 y: 58 z: 80 , grey-rectangle x: 47 y: -6 z: 80 , red-rectangle x: 30 y: 4 z: 0 , red-triangle x: -39 y: 55 z: 40])

* go home * from (30; 4; 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: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 37 y: -29 z: 40])

* go above the element to pick * from (380; 0; 620) * to (37; -29; 100)

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

table([ eof x: 37 y: -29 z: 100, gripper: open, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 37 y: -29 z: 40])

* go close to it * from(37; -29; 100)* to (37; -29; 30)

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

table([ eof x: 37 y: -29 z: 30, gripper: open, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 37 y: -29 z: 40])

* grasp it * close gripper

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

table([ eof x: 37 y: -29 z: 30, gripper: close, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 37 y: -29 z: 40])

* move up * from (37; -29; 30) * to (37; -29; 340)

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

table([ eof x: 37 y: -29 z: 340, gripper: close, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 37 y: -29 z: 340])

* go above the other element * from (37; -29; 640) * to (56; 53; 300)

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

table([ eof x: 56 y: 53 z: 300, gripper: close, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 56 y: 53 z: 300])

* leave the element * open gripper

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

table([ eof x: 56 y: 53 z: 300, gripper: open, black-cup x: 56 y: 53 z: 0 , green-circle x: 1 y: -13 z: 40 , green-rectangle x: 33 y: 14 z: 80 , grey-rectangle x: -52 y: 37 z: 80 , red-rectangle x: -20 y: -8 z: 80 , red-triangle x: 56 y: 53 z: 0])

* go home * from (56; 53; 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: -22 y: 39 z: 0 , green-circle x: 7 y: -56 z: 40 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* go above the element to pick * from (380; 0; 620) * to (7; -56; 100)

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

table([ eof x: 7 y: -56 z: 100, gripper: open, black-cup x: -22 y: 39 z: 0 , green-circle x: 7 y: -56 z: 40 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* go close to it * from(7; -56; 100)* to (7; -56; 30)

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

table([ eof x: 7 y: -56 z: 30, gripper: open, black-cup x: -22 y: 39 z: 0 , green-circle x: 7 y: -56 z: 40 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* grasp it * close gripper

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

table([ eof x: 7 y: -56 z: 30, gripper: close, black-cup x: -22 y: 39 z: 0 , green-circle x: 7 y: -56 z: 40 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* move up * from (7; -56; 30) * to (7; -56; 340)

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

table([ eof x: 7 y: -56 z: 340, gripper: close, black-cup x: -22 y: 39 z: 0 , green-circle x: 7 y: -56 z: 340 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* go above the other element * from (7; -56; 640) * to (-22; 39; 300)

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

table([ eof x: -22 y: 39 z: 300, gripper: close, black-cup x: -22 y: 39 z: 0 , green-circle x: -22 y: 39 z: 300 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* leave the element * open gripper

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

table([ eof x: -22 y: 39 z: 300, gripper: open, black-cup x: -22 y: 39 z: 0 , green-circle x: -22 y: 39 z: 0 , green-rectangle x: -51 y: -48 z: 80 , grey-rectangle x: -27 y: -19 z: 80 , red-rectangle x: -1 y: 7 z: 80 , red-triangle x: 41 y: -54 z: 40])

* go home * from (-22; 39; 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: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 7 y: 22 z: 80 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* go above the element to pick * from (380; 0; 620) * to (7; 22; 140)

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

table([ eof x: 7 y: 22 z: 140, gripper: open, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 7 y: 22 z: 80 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* go close to it * from(7; 22; 140)* to (7; 22; 70)

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

table([ eof x: 7 y: 22 z: 70, gripper: open, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 7 y: 22 z: 80 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* grasp it * close gripper

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

table([ eof x: 7 y: 22 z: 70, gripper: close, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 7 y: 22 z: 80 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* move up * from (7; 22; 70) * to (7; 22; 380)

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

table([ eof x: 7 y: 22 z: 380, gripper: close, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 7 y: 22 z: 380 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* go above the other element * from (7; 22; 680) * to (49; -23; 300)

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

table([ eof x: 49 y: -23 z: 300, gripper: close, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 49 y: -23 z: 300 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* leave the element * open gripper

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

table([ eof x: 49 y: -23 z: 300, gripper: open, black-cup x: 49 y: -23 z: 0 , green-circle x: -51 y: 3 z: 40 , green-rectangle x: 49 y: -23 z: 0 , grey-rectangle x: 49 y: 5 z: 80 , red-rectangle x: -15 y: 29 z: 80 , red-triangle x: -14 y: -20 z: 40])

* go home * from (49; -23; 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: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 2 y: -57 z: 80 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* go above the element to pick * from (380; 0; 620) * to (2; -57; 140)

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

table([ eof x: 2 y: -57 z: 140, gripper: open, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 2 y: -57 z: 80 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* go close to it * from(2; -57; 140)* to (2; -57; 70)

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

table([ eof x: 2 y: -57 z: 70, gripper: open, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 2 y: -57 z: 80 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* grasp it * close gripper

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

table([ eof x: 2 y: -57 z: 70, gripper: close, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 2 y: -57 z: 80 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* move up * from (2; -57; 70) * to (2; -57; 380)

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

table([ eof x: 2 y: -57 z: 380, gripper: close, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 2 y: -57 z: 380 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* go above the other element * from (2; -57; 680) * to (38; 33; 300)

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

table([ eof x: 38 y: 33 z: 300, gripper: close, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 38 y: 33 z: 300 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* leave the element * open gripper

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

table([ eof x: 38 y: 33 z: 300, gripper: open, black-cup x: 38 y: 33 z: 0 , green-circle x: 36 y: 29 z: 40 , green-rectangle x: 33 y: -15 z: 80 , grey-rectangle x: 38 y: 33 z: 0 , red-rectangle x: 38 y: -53 z: 80 , red-triangle x: 30 y: -47 z: 40])

* go home * from (38; 33; 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: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: 25 y: 44 z: 80 , red-triangle x: 8 y: 51 z: 40])

* go above the element to pick * from (380; 0; 620) * to (25; 44; 140)

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

table([ eof x: 25 y: 44 z: 140, gripper: open, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: 25 y: 44 z: 80 , red-triangle x: 8 y: 51 z: 40])

* go close to it * from(25; 44; 140)* to (25; 44; 70)

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

table([ eof x: 25 y: 44 z: 70, gripper: open, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: 25 y: 44 z: 80 , red-triangle x: 8 y: 51 z: 40])

* grasp it * close gripper

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

table([ eof x: 25 y: 44 z: 70, gripper: close, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: 25 y: 44 z: 80 , red-triangle x: 8 y: 51 z: 40])

* move up * from (25; 44; 70) * to (25; 44; 380)

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

table([ eof x: 25 y: 44 z: 380, gripper: close, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: 25 y: 44 z: 380 , red-triangle x: 8 y: 51 z: 40])

* go above the other element * from (25; 44; 680) * to (-51; -58; 300)

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

table([ eof x: -51 y: -58 z: 300, gripper: close, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: -51 y: -58 z: 300 , red-triangle x: 8 y: 51 z: 40])

* leave the element * open gripper

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

table([ eof x: -51 y: -58 z: 300, gripper: open, black-cup x: -51 y: -58 z: 0 , green-circle x: 38 y: 13 z: 40 , green-rectangle x: 36 y: -19 z: 80 , grey-rectangle x: -41 y: -47 z: 80 , red-rectangle x: -51 y: -58 z: 0 , red-triangle x: 8 y: 51 z: 40])

* go home * from (-51; -58; 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: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 46 y: 59 z: 40])

* go above the element to pick * from (380; 0; 620) * to (46; 59; 100)

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

table([ eof x: 46 y: 59 z: 100, gripper: open, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 46 y: 59 z: 40])

* go close to it * from(46; 59; 100)* to (46; 59; 30)

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

table([ eof x: 46 y: 59 z: 30, gripper: open, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 46 y: 59 z: 40])

* grasp it * close gripper

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

table([ eof x: 46 y: 59 z: 30, gripper: close, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 46 y: 59 z: 40])

* move up * from (46; 59; 30) * to (46; 59; 340)

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

table([ eof x: 46 y: 59 z: 340, gripper: close, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 46 y: 59 z: 340])

* go above the other element * from (46; 59; 640) * to (47; 17; 300)

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

table([ eof x: 47 y: 17 z: 300, gripper: close, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 47 y: 17 z: 300])

* leave the element * open gripper

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

table([ eof x: 47 y: 17 z: 300, gripper: open, black-cup x: 47 y: 17 z: 0 , green-circle x: -14 y: 56 z: 40 , green-rectangle x: -57 y: 9 z: 80 , grey-rectangle x: 32 y: 47 z: 80 , red-rectangle x: 12 y: -57 z: 80 , red-triangle x: 47 y: 17 z: 0])

* go home * from (47; 17; 300) * to (380; 0; 620)

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

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -45 y: 13 z: 0 , green-circle x: 41 y: 31 z: 40 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* go above the element to pick * from (380; 0; 620) * to (41; 31; 100)

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

table([ eof x: 41 y: 31 z: 100, gripper: open, black-cup x: -45 y: 13 z: 0 , green-circle x: 41 y: 31 z: 40 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* go close to it * from(41; 31; 100)* to (41; 31; 30)

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

table([ eof x: 41 y: 31 z: 30, gripper: open, black-cup x: -45 y: 13 z: 0 , green-circle x: 41 y: 31 z: 40 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* grasp it * close gripper

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

table([ eof x: 41 y: 31 z: 30, gripper: close, black-cup x: -45 y: 13 z: 0 , green-circle x: 41 y: 31 z: 40 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* move up * from (41; 31; 30) * to (41; 31; 340)

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

table([ eof x: 41 y: 31 z: 340, gripper: close, black-cup x: -45 y: 13 z: 0 , green-circle x: 41 y: 31 z: 340 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* go above the other element * from (41; 31; 640) * to (-45; 13; 300)

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

table([ eof x: -45 y: 13 z: 300, gripper: close, black-cup x: -45 y: 13 z: 0 , green-circle x: -45 y: 13 z: 300 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* leave the element * open gripper

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

table([ eof x: -45 y: 13 z: 300, gripper: open, black-cup x: -45 y: 13 z: 0 , green-circle x: -45 y: 13 z: 0 , green-rectangle x: 6 y: -44 z: 80 , grey-rectangle x: 0 y: 27 z: 80 , red-rectangle x: 59 y: 0 z: 80 , red-triangle x: 33 y: 10 z: 40])

* go home * from (-45; 13; 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: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -24 y: 37 z: 80 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-24; 37; 140)

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

table([ eof x: -24 y: 37 z: 140, gripper: open, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -24 y: 37 z: 80 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* go close to it * from(-24; 37; 140)* to (-24; 37; 70)

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

table([ eof x: -24 y: 37 z: 70, gripper: open, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -24 y: 37 z: 80 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* grasp it * close gripper

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

table([ eof x: -24 y: 37 z: 70, gripper: close, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -24 y: 37 z: 80 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* move up * from (-24; 37; 70) * to (-24; 37; 380)

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

table([ eof x: -24 y: 37 z: 380, gripper: close, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -24 y: 37 z: 380 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* go above the other element * from (-24; 37; 680) * to (-59; -35; 300)

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

table([ eof x: -59 y: -35 z: 300, gripper: close, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -59 y: -35 z: 300 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* leave the element * open gripper

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

table([ eof x: -59 y: -35 z: 300, gripper: open, black-cup x: -59 y: -35 z: 0 , green-circle x: 20 y: 38 z: 40 , green-rectangle x: -59 y: -35 z: 0 , grey-rectangle x: 46 y: -16 z: 80 , red-rectangle x: -41 y: 41 z: 80 , red-triangle x: 17 y: -53 z: 40])

* go home * from (-59; -35; 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: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: 1 z: 80 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-46; 1; 140)

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

table([ eof x: -46 y: 1 z: 140, gripper: open, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: 1 z: 80 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* go close to it * from(-46; 1; 140)* to (-46; 1; 70)

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

table([ eof x: -46 y: 1 z: 70, gripper: open, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: 1 z: 80 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* grasp it * close gripper

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

table([ eof x: -46 y: 1 z: 70, gripper: close, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: 1 z: 80 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* move up * from (-46; 1; 70) * to (-46; 1; 380)

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

table([ eof x: -46 y: 1 z: 380, gripper: close, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: 1 z: 380 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* go above the other element * from (-46; 1; 680) * to (-46; -50; 300)

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

table([ eof x: -46 y: -50 z: 300, gripper: close, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: -50 z: 300 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* leave the element * open gripper

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

table([ eof x: -46 y: -50 z: 300, gripper: open, black-cup x: -46 y: -50 z: 0 , green-circle x: 1 y: 33 z: 40 , green-rectangle x: 10 y: 28 z: 80 , grey-rectangle x: -46 y: -50 z: 0 , red-rectangle x: -20 y: -16 z: 80 , red-triangle x: 25 y: 38 z: 40])

* go home * from (-46; -50; 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: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: 3 y: 37 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-20; -24; 140)

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

table([ eof x: -20 y: -24 z: 140, gripper: open, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: 3 y: 37 z: 40])

* go close to it * from(-20; -24; 140)* to (-20; -24; 70)

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

table([ eof x: -20 y: -24 z: 70, gripper: open, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: 3 y: 37 z: 40])

* grasp it * close gripper

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

table([ eof x: -20 y: -24 z: 70, gripper: close, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: -20 y: -24 z: 80 , red-triangle x: 3 y: 37 z: 40])

* move up * from (-20; -24; 70) * to (-20; -24; 380)

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

table([ eof x: -20 y: -24 z: 380, gripper: close, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: -20 y: -24 z: 380 , red-triangle x: 3 y: 37 z: 40])

* go above the other element * from (-20; -24; 680) * to (33; -13; 300)

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

table([ eof x: 33 y: -13 z: 300, gripper: close, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: 33 y: -13 z: 300 , red-triangle x: 3 y: 37 z: 40])

* leave the element * open gripper

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

table([ eof x: 33 y: -13 z: 300, gripper: open, black-cup x: 33 y: -13 z: 0 , green-circle x: -37 y: 40 z: 40 , green-rectangle x: -52 y: -22 z: 80 , grey-rectangle x: -30 y: -28 z: 80 , red-rectangle x: 33 y: -13 z: 0 , red-triangle x: 3 y: 37 z: 40])

* go home * from (33; -13; 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: -1 y: -33 z: 0 , green-circle x: 59 y: -34 z: 40 , green-rectangle x: -59 y: 10 z: 80 , grey-rectangle x: -3 y: -52 z: 80 , red-rectangle x: -15 y: -48 z: 80 , red-triangle x: -21 y: 35 z: 40])

* go above the element to pick * from (380; 0; 620) * to (-21; 35; 100)

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

table([ eof x: -21 y: 35 z: 100, gripper: open, black-cup x: -1 y: -33 z: 0 , green-circle x: 59 y: -34 z: 40 , green-rectangle x: -59 y: 10 z: 80 , grey-rectangle x: -3 y: -52 z: 80 , red-rectangle x: -15 y: -48 z: 80 , red-triangle x: -21 y: 35 z: 40])

* go close to it * from(-21; 35; 100)* to (-21; 35; 30)

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