Datasets:

marcomaccarini

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ds_robot_23

like 0

* above element * to (-57; -31; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -26 y: -29 z: 0 , green-circle x: -57 y: -31 z: 40 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* go close * to (-57; -31; 40)

table([ eof x: -57 y: -31 z: 200, gripper: open, black-cup x: -26 y: -29 z: 0 , green-circle x: -57 y: -31 z: 40 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* grasp * close gripper

table([ eof x: -57 y: -31 z: 40, gripper: open, black-cup x: -26 y: -29 z: 0 , green-circle x: -57 y: -31 z: 40 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* up * to (-57; -31; 250)

table([ eof x: -57 y: -31 z: 40, gripper: close, black-cup x: -26 y: -29 z: 0 , green-circle x: -57 y: -31 z: 40 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* above cup * to (-26; -29; 350)

table([ eof x: -57 y: -31 z: 250, gripper: close, black-cup x: -26 y: -29 z: 0 , green-circle x: -57 y: -31 z: 250 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* leave * open gripper

table([ eof x: -26 y: -29 z: 350, gripper: close, black-cup x: -26 y: -29 z: 0 , green-circle x: -26 y: -29 z: 350 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -26 y: -29 z: 350, gripper: open, black-cup x: -26 y: -29 z: 0 , green-circle x: -26 y: -29 z: 0 , green-rectangle x: 48 y: -58 z: 80 , grey-rectangle x: -29 y: 32 z: 80 , red-rectangle x: -21 y: 44 z: 80 , red-triangle x: -4 y: 17 z: 40])

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

* above element * to (0; 41; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 0 y: 41 z: 80 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* go close * to (0; 41; 80)

table([ eof x: 0 y: 41 z: 200, gripper: open, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 0 y: 41 z: 80 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* grasp * close gripper

table([ eof x: 0 y: 41 z: 80, gripper: open, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 0 y: 41 z: 80 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* up * to (0; 41; 250)

table([ eof x: 0 y: 41 z: 80, gripper: close, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 0 y: 41 z: 80 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* above cup * to (12; 44; 350)

table([ eof x: 0 y: 41 z: 250, gripper: close, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 0 y: 41 z: 250 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* leave * open gripper

table([ eof x: 12 y: 44 z: 350, gripper: close, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 12 y: 44 z: 350 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: 12 y: 44 z: 350, gripper: open, black-cup x: 12 y: 44 z: 0 , green-circle x: 1 y: 27 z: 40 , green-rectangle x: 12 y: 44 z: 0 , grey-rectangle x: 20 y: -41 z: 80 , red-rectangle x: -34 y: 8 z: 80 , red-triangle x: -12 y: -54 z: 40])

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

* above element * to (-42; -59; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -42 y: -59 z: 80 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* go close * to (-42; -59; 80)

table([ eof x: -42 y: -59 z: 200, gripper: open, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -42 y: -59 z: 80 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* grasp * close gripper

table([ eof x: -42 y: -59 z: 80, gripper: open, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -42 y: -59 z: 80 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* up * to (-42; -59; 250)

table([ eof x: -42 y: -59 z: 80, gripper: close, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -42 y: -59 z: 80 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* above cup * to (-35; 38; 350)

table([ eof x: -42 y: -59 z: 250, gripper: close, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -42 y: -59 z: 250 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* leave * open gripper

table([ eof x: -35 y: 38 z: 350, gripper: close, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -35 y: 38 z: 350 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -35 y: 38 z: 350, gripper: open, black-cup x: -35 y: 38 z: 0 , green-circle x: -7 y: 6 z: 40 , green-rectangle x: -23 y: 55 z: 80 , grey-rectangle x: -35 y: 38 z: 0 , red-rectangle x: -43 y: 49 z: 80 , red-triangle x: -8 y: 21 z: 40])

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

* above element * to (29; -52; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: 29 y: -52 z: 80 , red-triangle x: 31 y: -43 z: 40])

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

* go close * to (29; -52; 80)

table([ eof x: 29 y: -52 z: 200, gripper: open, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: 29 y: -52 z: 80 , red-triangle x: 31 y: -43 z: 40])

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

* grasp * close gripper

table([ eof x: 29 y: -52 z: 80, gripper: open, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: 29 y: -52 z: 80 , red-triangle x: 31 y: -43 z: 40])

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

* up * to (29; -52; 250)

table([ eof x: 29 y: -52 z: 80, gripper: close, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: 29 y: -52 z: 80 , red-triangle x: 31 y: -43 z: 40])

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

* above cup * to (-42; 30; 350)

table([ eof x: 29 y: -52 z: 250, gripper: close, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: 29 y: -52 z: 250 , red-triangle x: 31 y: -43 z: 40])

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

* leave * open gripper

table([ eof x: -42 y: 30 z: 350, gripper: close, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: -42 y: 30 z: 350 , red-triangle x: 31 y: -43 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -42 y: 30 z: 350, gripper: open, black-cup x: -42 y: 30 z: 0 , green-circle x: 40 y: -21 z: 40 , green-rectangle x: 11 y: 41 z: 80 , grey-rectangle x: 54 y: -15 z: 80 , red-rectangle x: -42 y: 30 z: 0 , red-triangle x: 31 y: -43 z: 40])

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

* above element * to (32; -24; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 32 y: -24 z: 40])

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

* go close * to (32; -24; 40)

table([ eof x: 32 y: -24 z: 200, gripper: open, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 32 y: -24 z: 40])

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

* grasp * close gripper

table([ eof x: 32 y: -24 z: 40, gripper: open, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 32 y: -24 z: 40])

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

* up * to (32; -24; 250)

table([ eof x: 32 y: -24 z: 40, gripper: close, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 32 y: -24 z: 40])

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

* above cup * to (58; -24; 350)

table([ eof x: 32 y: -24 z: 250, gripper: close, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 32 y: -24 z: 250])

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

* leave * open gripper

table([ eof x: 58 y: -24 z: 350, gripper: close, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 58 y: -24 z: 350])

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

* home * to (380; 0; 620)

table([ eof x: 58 y: -24 z: 350, gripper: open, black-cup x: 58 y: -24 z: 0 , green-circle x: -58 y: -27 z: 40 , green-rectangle x: 21 y: -36 z: 80 , grey-rectangle x: -45 y: 28 z: 80 , red-rectangle x: -24 y: 53 z: 80 , red-triangle x: 58 y: -24 z: 0])

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

* above element * to (46; -25; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 29 y: -26 z: 0 , green-circle x: 46 y: -25 z: 40 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* go close * to (46; -25; 40)

table([ eof x: 46 y: -25 z: 200, gripper: open, black-cup x: 29 y: -26 z: 0 , green-circle x: 46 y: -25 z: 40 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* grasp * close gripper

table([ eof x: 46 y: -25 z: 40, gripper: open, black-cup x: 29 y: -26 z: 0 , green-circle x: 46 y: -25 z: 40 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* up * to (46; -25; 250)

table([ eof x: 46 y: -25 z: 40, gripper: close, black-cup x: 29 y: -26 z: 0 , green-circle x: 46 y: -25 z: 40 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* above cup * to (29; -26; 350)

table([ eof x: 46 y: -25 z: 250, gripper: close, black-cup x: 29 y: -26 z: 0 , green-circle x: 46 y: -25 z: 250 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* leave * open gripper

table([ eof x: 29 y: -26 z: 350, gripper: close, black-cup x: 29 y: -26 z: 0 , green-circle x: 29 y: -26 z: 350 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: 29 y: -26 z: 350, gripper: open, black-cup x: 29 y: -26 z: 0 , green-circle x: 29 y: -26 z: 0 , green-rectangle x: 40 y: -9 z: 80 , grey-rectangle x: 54 y: 33 z: 80 , red-rectangle x: -53 y: -14 z: 80 , red-triangle x: 46 y: 15 z: 40])

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

* above element * to (11; 2; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: 11 y: 2 z: 80 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* go close * to (11; 2; 80)

table([ eof x: 11 y: 2 z: 200, gripper: open, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: 11 y: 2 z: 80 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* grasp * close gripper

table([ eof x: 11 y: 2 z: 80, gripper: open, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: 11 y: 2 z: 80 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* up * to (11; 2; 250)

table([ eof x: 11 y: 2 z: 80, gripper: close, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: 11 y: 2 z: 80 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* above cup * to (-38; -11; 350)

table([ eof x: 11 y: 2 z: 250, gripper: close, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: 11 y: 2 z: 250 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* leave * open gripper

table([ eof x: -38 y: -11 z: 350, gripper: close, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: -38 y: -11 z: 350 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -38 y: -11 z: 350, gripper: open, black-cup x: -38 y: -11 z: 0 , green-circle x: 35 y: -19 z: 40 , green-rectangle x: -38 y: -11 z: 0 , grey-rectangle x: -57 y: 4 z: 80 , red-rectangle x: 6 y: 0 z: 80 , red-triangle x: 14 y: -23 z: 40])

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

* above element * to (35; 56; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 35 y: 56 z: 80 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* go close * to (35; 56; 80)

table([ eof x: 35 y: 56 z: 200, gripper: open, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 35 y: 56 z: 80 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* grasp * close gripper

table([ eof x: 35 y: 56 z: 80, gripper: open, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 35 y: 56 z: 80 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* up * to (35; 56; 250)

table([ eof x: 35 y: 56 z: 80, gripper: close, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 35 y: 56 z: 80 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* above cup * to (18; -32; 350)

table([ eof x: 35 y: 56 z: 250, gripper: close, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 35 y: 56 z: 250 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* leave * open gripper

table([ eof x: 18 y: -32 z: 350, gripper: close, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 18 y: -32 z: 350 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: 18 y: -32 z: 350, gripper: open, black-cup x: 18 y: -32 z: 0 , green-circle x: 41 y: -31 z: 40 , green-rectangle x: 6 y: -32 z: 80 , grey-rectangle x: 18 y: -32 z: 0 , red-rectangle x: -54 y: -26 z: 80 , red-triangle x: -2 y: 6 z: 40])

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

* above element * to (-8; -24; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -21 y: 43 z: 40])

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

* go close * to (-8; -24; 80)

table([ eof x: -8 y: -24 z: 200, gripper: open, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -21 y: 43 z: 40])

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

* grasp * close gripper

table([ eof x: -8 y: -24 z: 80, gripper: open, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -21 y: 43 z: 40])

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

* up * to (-8; -24; 250)

table([ eof x: -8 y: -24 z: 80, gripper: close, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -8 y: -24 z: 80 , red-triangle x: -21 y: 43 z: 40])

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

* above cup * to (-27; 45; 350)

table([ eof x: -8 y: -24 z: 250, gripper: close, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -8 y: -24 z: 250 , red-triangle x: -21 y: 43 z: 40])

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

* leave * open gripper

table([ eof x: -27 y: 45 z: 350, gripper: close, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -27 y: 45 z: 350 , red-triangle x: -21 y: 43 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -27 y: 45 z: 350, gripper: open, black-cup x: -27 y: 45 z: 0 , green-circle x: 52 y: -42 z: 40 , green-rectangle x: -26 y: -6 z: 80 , grey-rectangle x: -58 y: -14 z: 80 , red-rectangle x: -27 y: 45 z: 0 , red-triangle x: -21 y: 43 z: 40])

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

* above element * to (9; 43; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 9 y: 43 z: 40])

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

* go close * to (9; 43; 40)

table([ eof x: 9 y: 43 z: 200, gripper: open, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 9 y: 43 z: 40])

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

* grasp * close gripper

table([ eof x: 9 y: 43 z: 40, gripper: open, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 9 y: 43 z: 40])

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

* up * to (9; 43; 250)

table([ eof x: 9 y: 43 z: 40, gripper: close, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 9 y: 43 z: 40])

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

* above cup * to (6; 0; 350)

table([ eof x: 9 y: 43 z: 250, gripper: close, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 9 y: 43 z: 250])

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

* leave * open gripper

table([ eof x: 6 y: 0 z: 350, gripper: close, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 6 y: 0 z: 350])

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

* home * to (380; 0; 620)

table([ eof x: 6 y: 0 z: 350, gripper: open, black-cup x: 6 y: 0 z: 0 , green-circle x: -24 y: -42 z: 40 , green-rectangle x: 35 y: -56 z: 80 , grey-rectangle x: 37 y: 58 z: 80 , red-rectangle x: 52 y: -41 z: 80 , red-triangle x: 6 y: 0 z: 0])

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

* above element * to (-59; -2; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 56 y: -43 z: 0 , green-circle x: -59 y: -2 z: 40 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* go close * to (-59; -2; 40)

table([ eof x: -59 y: -2 z: 200, gripper: open, black-cup x: 56 y: -43 z: 0 , green-circle x: -59 y: -2 z: 40 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* grasp * close gripper

table([ eof x: -59 y: -2 z: 40, gripper: open, black-cup x: 56 y: -43 z: 0 , green-circle x: -59 y: -2 z: 40 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* up * to (-59; -2; 250)

table([ eof x: -59 y: -2 z: 40, gripper: close, black-cup x: 56 y: -43 z: 0 , green-circle x: -59 y: -2 z: 40 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* above cup * to (56; -43; 350)

table([ eof x: -59 y: -2 z: 250, gripper: close, black-cup x: 56 y: -43 z: 0 , green-circle x: -59 y: -2 z: 250 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* leave * open gripper

table([ eof x: 56 y: -43 z: 350, gripper: close, black-cup x: 56 y: -43 z: 0 , green-circle x: 56 y: -43 z: 350 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: 56 y: -43 z: 350, gripper: open, black-cup x: 56 y: -43 z: 0 , green-circle x: 56 y: -43 z: 0 , green-rectangle x: -57 y: 20 z: 80 , grey-rectangle x: 15 y: -46 z: 80 , red-rectangle x: 52 y: -23 z: 80 , red-triangle x: -3 y: 20 z: 40])

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

* above element * to (-6; -33; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: -33 z: 80 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* go close * to (-6; -33; 80)

table([ eof x: -6 y: -33 z: 200, gripper: open, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: -33 z: 80 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* grasp * close gripper

table([ eof x: -6 y: -33 z: 80, gripper: open, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: -33 z: 80 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* up * to (-6; -33; 250)

table([ eof x: -6 y: -33 z: 80, gripper: close, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: -33 z: 80 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* above cup * to (-6; 31; 350)

table([ eof x: -6 y: -33 z: 250, gripper: close, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: -33 z: 250 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* leave * open gripper

table([ eof x: -6 y: 31 z: 350, gripper: close, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: 31 z: 350 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -6 y: 31 z: 350, gripper: open, black-cup x: -6 y: 31 z: 0 , green-circle x: -43 y: 30 z: 40 , green-rectangle x: -6 y: 31 z: 0 , grey-rectangle x: -18 y: -48 z: 80 , red-rectangle x: -46 y: 53 z: 80 , red-triangle x: 7 y: 48 z: 40])

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

* above element * to (-56; -4; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: -56 y: -4 z: 80 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* go close * to (-56; -4; 80)

table([ eof x: -56 y: -4 z: 200, gripper: open, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: -56 y: -4 z: 80 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* grasp * close gripper

table([ eof x: -56 y: -4 z: 80, gripper: open, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: -56 y: -4 z: 80 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* up * to (-56; -4; 250)

table([ eof x: -56 y: -4 z: 80, gripper: close, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: -56 y: -4 z: 80 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* above cup * to (23; 20; 350)

table([ eof x: -56 y: -4 z: 250, gripper: close, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: -56 y: -4 z: 250 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* leave * open gripper

table([ eof x: 23 y: 20 z: 350, gripper: close, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: 23 y: 20 z: 350 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: 23 y: 20 z: 350, gripper: open, black-cup x: 23 y: 20 z: 0 , green-circle x: 47 y: 15 z: 40 , green-rectangle x: -54 y: -22 z: 80 , grey-rectangle x: 23 y: 20 z: 0 , red-rectangle x: 15 y: 37 z: 80 , red-triangle x: -20 y: -19 z: 40])

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

* above element * to (-59; 20; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 20 z: 80 , red-triangle x: -31 y: 26 z: 40])

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

* go close * to (-59; 20; 80)

table([ eof x: -59 y: 20 z: 200, gripper: open, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 20 z: 80 , red-triangle x: -31 y: 26 z: 40])

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

* grasp * close gripper

table([ eof x: -59 y: 20 z: 80, gripper: open, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 20 z: 80 , red-triangle x: -31 y: 26 z: 40])

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

* up * to (-59; 20; 250)

table([ eof x: -59 y: 20 z: 80, gripper: close, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 20 z: 80 , red-triangle x: -31 y: 26 z: 40])

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

* above cup * to (-59; 18; 350)

table([ eof x: -59 y: 20 z: 250, gripper: close, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 20 z: 250 , red-triangle x: -31 y: 26 z: 40])

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

* leave * open gripper

table([ eof x: -59 y: 18 z: 350, gripper: close, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 18 z: 350 , red-triangle x: -31 y: 26 z: 40])

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

* home * to (380; 0; 620)

table([ eof x: -59 y: 18 z: 350, gripper: open, black-cup x: -59 y: 18 z: 0 , green-circle x: 26 y: -38 z: 40 , green-rectangle x: 56 y: 2 z: 80 , grey-rectangle x: -35 y: 10 z: 80 , red-rectangle x: -59 y: 18 z: 0 , red-triangle x: -31 y: 26 z: 40])

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

* above element * to (50; -14; 200)

table([ eof x: 380 y: 0 z: 620, gripper: open, black-cup x: -46 y: 0 z: 0 , green-circle x: 5 y: 26 z: 40 , green-rectangle x: -1 y: 42 z: 80 , grey-rectangle x: -59 y: -49 z: 80 , red-rectangle x: 58 y: 33 z: 80 , red-triangle x: 50 y: -14 z: 40])

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

* go close * to (50; -14; 40)

table([ eof x: 50 y: -14 z: 200, gripper: open, black-cup x: -46 y: 0 z: 0 , green-circle x: 5 y: 26 z: 40 , green-rectangle x: -1 y: 42 z: 80 , grey-rectangle x: -59 y: -49 z: 80 , red-rectangle x: 58 y: 33 z: 80 , red-triangle x: 50 y: -14 z: 40])

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