Datasets:

marcomaccarini

/

ds_robot_30

like 0

table([ eof x: 32 y: -358 z: 646, gripper: open , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

above:3;29;80+15;

table([ eof x: 3 y: 29 z: 95, gripper: open , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

close:3;29;80+0;

table([ eof x: 3 y: 29 z: 80, gripper: open , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

grasp:grasp

table([ eof x: 3 y: 29 z: 80, gripper: close , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

up:3;29;80+15;

table([ eof x: 3 y: 29 z: 95, gripper: close , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

above:43;31;80+10;

table([ eof x: 43 y: 31 z: 90, gripper: close , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

leave:leave

table([ eof x: 43 y: 31 z: 90, gripper: open , black-cup x: 43 y: 31 z: 80, white-cup x: -14 y: -33 z: 60, box x: -12 y: 57 z: 100, green-cylinder x: 3 y: 29 z: 80 or: 58, green-cube x: 58 y: 44 z: 80 or: 67, grey-cube x: -7 y: -53 z: 80 or: 111, red-cube x: -55 y: -7 z: 80 or: 99, yellow-ball x: -57 y: 37 z: 20 or: 93, banana x: -23 y: -17 z: 20 or: 173, remote x: -55 y: -40 z: 30 or: 163, pen x: -32 y: -11 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

home:600;0;480+0;

table([ eof x: 205 y: -288 z: 455, gripper: open , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

above:-29;0;80+15;

table([ eof x: -29 y: 0 z: 95, gripper: open , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

close:-29;0;80+0;

table([ eof x: -29 y: 0 z: 80, gripper: open , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

grasp:grasp

table([ eof x: -29 y: 0 z: 80, gripper: close , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

up:-29;0;80+15;

table([ eof x: -29 y: 0 z: 95, gripper: close , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

above:25;35;80+10;

table([ eof x: 25 y: 35 z: 90, gripper: close , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

leave:leave

table([ eof x: 25 y: 35 z: 90, gripper: open , black-cup x: 25 y: 35 z: 80, white-cup x: 1 y: 50 z: 60, box x: -45 y: 47 z: 100, green-cylinder x: -45 y: 43 z: 80 or: 58, green-cube x: -29 y: 0 z: 80 or: 67, grey-cube x: 23 y: 49 z: 80 or: 111, red-cube x: -18 y: 29 z: 80 or: 99, yellow-ball x: 22 y: 17 z: 20 or: 93, banana x: -12 y: 29 z: 20 or: 173, remote x: -37 y: 34 z: 30 or: 163, pen x: -49 y: 13 z: 10 or: 174 ])

pick green-cube and place to black-cup

home:600;0;480+0;

table([ eof x: -388 y: -55 z: 452, gripper: open , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

above:-31;-43;80+15;

table([ eof x: -31 y: -43 z: 95, gripper: open , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

close:-31;-43;80+0;

table([ eof x: -31 y: -43 z: 80, gripper: open , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

grasp:grasp

table([ eof x: -31 y: -43 z: 80, gripper: close , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

up:-31;-43;80+15;

table([ eof x: -31 y: -43 z: 95, gripper: close , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

above:22;-31;80+10;

table([ eof x: 22 y: -31 z: 90, gripper: close , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

leave:leave

table([ eof x: 22 y: -31 z: 90, gripper: open , black-cup x: 22 y: -31 z: 80, white-cup x: -38 y: 58 z: 60, box x: -5 y: 7 z: 100, green-cylinder x: 28 y: -29 z: 80 or: 58, green-cube x: -48 y: 35 z: 80 or: 67, grey-cube x: -31 y: -43 z: 80 or: 111, red-cube x: 45 y: 41 z: 80 or: 99, yellow-ball x: 44 y: -24 z: 20 or: 93, banana x: 38 y: 56 z: 20 or: 173, remote x: 19 y: 12 z: 30 or: 163, pen x: 45 y: -4 z: 10 or: 174 ])

pick grey-cube and place to black-cup

home:600;0;480+0;

table([ eof x: -202 y: -378 z: 597, gripper: open , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

above:-37;0;80+15;

table([ eof x: -37 y: 0 z: 95, gripper: open , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

close:-37;0;80+0;

table([ eof x: -37 y: 0 z: 80, gripper: open , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

grasp:grasp

table([ eof x: -37 y: 0 z: 80, gripper: close , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

up:-37;0;80+15;

table([ eof x: -37 y: 0 z: 95, gripper: close , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

above:-39;-38;80+10;

table([ eof x: -39 y: -38 z: 90, gripper: close , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

leave:leave

table([ eof x: -39 y: -38 z: 90, gripper: open , black-cup x: -39 y: -38 z: 80, white-cup x: -59 y: -48 z: 60, box x: -16 y: 1 z: 100, green-cylinder x: 8 y: -37 z: 80 or: 58, green-cube x: 10 y: 6 z: 80 or: 67, grey-cube x: -41 y: 20 z: 80 or: 111, red-cube x: -37 y: 0 z: 80 or: 99, yellow-ball x: -41 y: 40 z: 20 or: 93, banana x: 49 y: 40 z: 20 or: 173, remote x: -43 y: -35 z: 30 or: 163, pen x: -9 y: -1 z: 10 or: 174 ])

pick red-cube and place to black-cup

home:600;0;480+0;

table([ eof x: -202 y: 322 z: 308, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

above:9;12;20+15;

table([ eof x: 9 y: 12 z: 35, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

close:9;12;20+0;

table([ eof x: 9 y: 12 z: 20, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

grasp:grasp

table([ eof x: 9 y: 12 z: 20, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

up:9;12;20+15;

table([ eof x: 9 y: 12 z: 35, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

above:-33;37;80+10;

table([ eof x: -33 y: 37 z: 90, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

leave:leave

table([ eof x: -33 y: 37 z: 90, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 27 y: -40 z: 60, box x: -35 y: 53 z: 100, green-cylinder x: 29 y: 50 z: 80 or: 58, green-cube x: 19 y: 51 z: 80 or: 67, grey-cube x: -58 y: 15 z: 80 or: 111, red-cube x: 0 y: 46 z: 80 or: 99, yellow-ball x: 9 y: 12 z: 20 or: 93, banana x: 8 y: 3 z: 20 or: 173, remote x: -41 y: 19 z: 30 or: 163, pen x: 32 y: 1 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

home:600;0;480+0;

table([ eof x: 40 y: -349 z: 538, gripper: open , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

above:-9;9;20+15;

table([ eof x: -9 y: 9 z: 35, gripper: open , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

close:-9;9;20+0;

table([ eof x: -9 y: 9 z: 20, gripper: open , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

grasp:grasp

table([ eof x: -9 y: 9 z: 20, gripper: close , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

up:-9;9;20+15;

table([ eof x: -9 y: 9 z: 35, gripper: close , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

above:43;-6;80+10;

table([ eof x: 43 y: -6 z: 90, gripper: close , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

leave:leave

table([ eof x: 43 y: -6 z: 90, gripper: open , black-cup x: 43 y: -6 z: 80, white-cup x: 17 y: 53 z: 60, box x: 35 y: 55 z: 100, green-cylinder x: -27 y: -34 z: 80 or: 58, green-cube x: 49 y: 24 z: 80 or: 67, grey-cube x: -3 y: 56 z: 80 or: 111, red-cube x: 49 y: -56 z: 80 or: 99, yellow-ball x: -47 y: -13 z: 20 or: 93, banana x: -9 y: 9 z: 20 or: 173, remote x: 2 y: 20 z: 30 or: 163, pen x: -2 y: 11 z: 10 or: 174 ])

pick banana and place to black-cup

home:600;0;480+0;

table([ eof x: 86 y: -146 z: 692, gripper: open , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

above:53;-1;30+15;

table([ eof x: 53 y: -1 z: 45, gripper: open , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

close:53;-1;30+0;

table([ eof x: 53 y: -1 z: 30, gripper: open , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

grasp:grasp

table([ eof x: 53 y: -1 z: 30, gripper: close , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

up:53;-1;30+15;

table([ eof x: 53 y: -1 z: 45, gripper: close , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

above:56;-24;80+10;

table([ eof x: 56 y: -24 z: 90, gripper: close , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

leave:leave

table([ eof x: 56 y: -24 z: 90, gripper: open , black-cup x: 56 y: -24 z: 80, white-cup x: 6 y: 4 z: 60, box x: -32 y: -28 z: 100, green-cylinder x: -24 y: -39 z: 80 or: 58, green-cube x: -8 y: 5 z: 80 or: 67, grey-cube x: -38 y: 47 z: 80 or: 111, red-cube x: -2 y: 17 z: 80 or: 99, yellow-ball x: -14 y: -32 z: 20 or: 93, banana x: 56 y: -34 z: 20 or: 173, remote x: 53 y: -1 z: 30 or: 163, pen x: 18 y: -45 z: 10 or: 174 ])

pick remote and place to black-cup

home:600;0;480+0;

table([ eof x: -209 y: 271 z: 474, gripper: open , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

above:49;-12;10+15;

table([ eof x: 49 y: -12 z: 25, gripper: open , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

close:49;-12;10+0;

table([ eof x: 49 y: -12 z: 10, gripper: open , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

grasp:grasp

table([ eof x: 49 y: -12 z: 10, gripper: close , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

up:49;-12;10+15;

table([ eof x: 49 y: -12 z: 25, gripper: close , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

above:-50;-26;80+10;

table([ eof x: -50 y: -26 z: 90, gripper: close , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

leave:leave

table([ eof x: -50 y: -26 z: 90, gripper: open , black-cup x: -50 y: -26 z: 80, white-cup x: 49 y: -32 z: 60, box x: 43 y: -56 z: 100, green-cylinder x: 1 y: 51 z: 80 or: 58, green-cube x: 31 y: 22 z: 80 or: 67, grey-cube x: -51 y: -4 z: 80 or: 111, red-cube x: -5 y: -11 z: 80 or: 99, yellow-ball x: -27 y: -45 z: 20 or: 93, banana x: 1 y: -51 z: 20 or: 173, remote x: 10 y: 38 z: 30 or: 163, pen x: 49 y: -12 z: 10 or: 174 ])

pick pen and place to black-cup

home:600;0;480+0;

table([ eof x: 24 y: -351 z: 489, gripper: open , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

above:-4;-26;80+15;

table([ eof x: -4 y: -26 z: 95, gripper: open , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

close:-4;-26;80+0;

table([ eof x: -4 y: -26 z: 80, gripper: open , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

grasp:grasp

table([ eof x: -4 y: -26 z: 80, gripper: close , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

up:-4;-26;80+15;

table([ eof x: -4 y: -26 z: 95, gripper: close , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

above:-17;-31;60+10;

table([ eof x: -17 y: -31 z: 70, gripper: close , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

leave:leave

table([ eof x: -17 y: -31 z: 70, gripper: open , black-cup x: -40 y: -22 z: 80, white-cup x: -17 y: -31 z: 60, box x: -1 y: -19 z: 100, green-cylinder x: -4 y: -26 z: 80 or: 58, green-cube x: 0 y: -49 z: 80 or: 67, grey-cube x: -29 y: -37 z: 80 or: 111, red-cube x: 35 y: 13 z: 80 or: 99, yellow-ball x: -58 y: -19 z: 20 or: 93, banana x: -6 y: -31 z: 20 or: 173, remote x: -5 y: 44 z: 30 or: 163, pen x: 45 y: -12 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

home:600;0;480+0;

table([ eof x: -153 y: 190 z: 296, gripper: open , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

above:46;-57;80+15;

table([ eof x: 46 y: -57 z: 95, gripper: open , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

close:46;-57;80+0;

table([ eof x: 46 y: -57 z: 80, gripper: open , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

grasp:grasp

table([ eof x: 46 y: -57 z: 80, gripper: close , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

up:46;-57;80+15;

table([ eof x: 46 y: -57 z: 95, gripper: close , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

above:0;-39;60+10;

table([ eof x: 0 y: -39 z: 70, gripper: close , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

leave:leave

table([ eof x: 0 y: -39 z: 70, gripper: open , black-cup x: 29 y: 57 z: 80, white-cup x: 0 y: -39 z: 60, box x: 58 y: -13 z: 100, green-cylinder x: 30 y: 48 z: 80 or: 58, green-cube x: 46 y: -57 z: 80 or: 67, grey-cube x: -8 y: 31 z: 80 or: 111, red-cube x: 36 y: 16 z: 80 or: 99, yellow-ball x: 33 y: -28 z: 20 or: 93, banana x: 13 y: 42 z: 20 or: 173, remote x: 7 y: -3 z: 30 or: 163, pen x: -26 y: -44 z: 10 or: 174 ])

pick green-cube and place to white-cup

home:600;0;480+0;

table([ eof x: 130 y: -14 z: 677, gripper: open , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

above:38;-27;80+15;

table([ eof x: 38 y: -27 z: 95, gripper: open , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

close:38;-27;80+0;

table([ eof x: 38 y: -27 z: 80, gripper: open , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

grasp:grasp

table([ eof x: 38 y: -27 z: 80, gripper: close , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

up:38;-27;80+15;

table([ eof x: 38 y: -27 z: 95, gripper: close , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

above:34;46;60+10;

table([ eof x: 34 y: 46 z: 70, gripper: close , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

leave:leave

table([ eof x: 34 y: 46 z: 70, gripper: open , black-cup x: -56 y: 58 z: 80, white-cup x: 34 y: 46 z: 60, box x: 50 y: -12 z: 100, green-cylinder x: 43 y: -2 z: 80 or: 58, green-cube x: 29 y: -41 z: 80 or: 67, grey-cube x: 38 y: -27 z: 80 or: 111, red-cube x: 8 y: 6 z: 80 or: 99, yellow-ball x: -16 y: -2 z: 20 or: 93, banana x: 4 y: 55 z: 20 or: 173, remote x: 21 y: -4 z: 30 or: 163, pen x: 13 y: -15 z: 10 or: 174 ])

pick grey-cube and place to white-cup

home:600;0;480+0;

table([ eof x: -372 y: 6 z: 166, gripper: open , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

above:19;-4;80+15;

table([ eof x: 19 y: -4 z: 95, gripper: open , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

close:19;-4;80+0;

table([ eof x: 19 y: -4 z: 80, gripper: open , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

grasp:grasp

table([ eof x: 19 y: -4 z: 80, gripper: close , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

up:19;-4;80+15;

table([ eof x: 19 y: -4 z: 95, gripper: close , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

above:-3;0;60+10;

table([ eof x: -3 y: 0 z: 70, gripper: close , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

leave:leave

table([ eof x: -3 y: 0 z: 70, gripper: open , black-cup x: 31 y: -54 z: 80, white-cup x: -3 y: 0 z: 60, box x: -51 y: -40 z: 100, green-cylinder x: -35 y: 58 z: 80 or: 58, green-cube x: -9 y: -11 z: 80 or: 67, grey-cube x: 15 y: -59 z: 80 or: 111, red-cube x: 19 y: -4 z: 80 or: 99, yellow-ball x: -53 y: 53 z: 20 or: 93, banana x: 1 y: -31 z: 20 or: 173, remote x: 51 y: 0 z: 30 or: 163, pen x: 35 y: -5 z: 10 or: 174 ])

pick red-cube and place to white-cup

home:600;0;480+0;

table([ eof x: -13 y: 170 z: 273, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

above:12;47;20+15;

table([ eof x: 12 y: 47 z: 35, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

close:12;47;20+0;

table([ eof x: 12 y: 47 z: 20, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

grasp:grasp

table([ eof x: 12 y: 47 z: 20, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

up:12;47;20+15;

table([ eof x: 12 y: 47 z: 35, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

above:53;10;60+10;

table([ eof x: 53 y: 10 z: 70, gripper: close , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

leave:leave

table([ eof x: 53 y: 10 z: 70, gripper: open , black-cup x: -33 y: 37 z: 80, white-cup x: 53 y: 10 z: 60, box x: 33 y: -51 z: 100, green-cylinder x: 32 y: -8 z: 80 or: 58, green-cube x: 18 y: -52 z: 80 or: 67, grey-cube x: 22 y: 59 z: 80 or: 111, red-cube x: 20 y: 47 z: 80 or: 99, yellow-ball x: 12 y: 47 z: 20 or: 93, banana x: -30 y: 26 z: 20 or: 173, remote x: 45 y: 17 z: 30 or: 163, pen x: 0 y: 59 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

home:600;0;480+0;

table([ eof x: 48 y: 280 z: 230, gripper: open , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

above:-21;-24;20+15;

table([ eof x: -21 y: -24 z: 35, gripper: open , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

close:-21;-24;20+0;

table([ eof x: -21 y: -24 z: 20, gripper: open , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

grasp:grasp

table([ eof x: -21 y: -24 z: 20, gripper: close , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

up:-21;-24;20+15;

table([ eof x: -21 y: -24 z: 35, gripper: close , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

above:-25;16;60+10;

table([ eof x: -25 y: 16 z: 70, gripper: close , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

leave:leave

table([ eof x: -25 y: 16 z: 70, gripper: open , black-cup x: 48 y: -51 z: 80, white-cup x: -25 y: 16 z: 60, box x: 22 y: 57 z: 100, green-cylinder x: 39 y: 42 z: 80 or: 58, green-cube x: -59 y: -47 z: 80 or: 67, grey-cube x: 26 y: 56 z: 80 or: 111, red-cube x: 35 y: -10 z: 80 or: 99, yellow-ball x: -49 y: -26 z: 20 or: 93, banana x: -21 y: -24 z: 20 or: 173, remote x: -51 y: -19 z: 30 or: 163, pen x: 26 y: 56 z: 10 or: 174 ])

pick banana and place to white-cup

home:600;0;480+0;

table([ eof x: -171 y: 74 z: 604, gripper: open , black-cup x: -10 y: 9 z: 80, white-cup x: 3 y: -58 z: 60, box x: 40 y: -3 z: 100, green-cylinder x: 40 y: -40 z: 80 or: 58, green-cube x: 38 y: 44 z: 80 or: 67, grey-cube x: 7 y: 20 z: 80 or: 111, red-cube x: -36 y: 27 z: 80 or: 99, yellow-ball x: -50 y: -51 z: 20 or: 93, banana x: -52 y: 45 z: 20 or: 173, remote x: 47 y: 7 z: 30 or: 163, pen x: 12 y: -41 z: 10 or: 174 ])

pick remote and place to white-cup

above:47;7;30+15;

table([ eof x: 47 y: 7 z: 45, gripper: open , black-cup x: -10 y: 9 z: 80, white-cup x: 3 y: -58 z: 60, box x: 40 y: -3 z: 100, green-cylinder x: 40 y: -40 z: 80 or: 58, green-cube x: 38 y: 44 z: 80 or: 67, grey-cube x: 7 y: 20 z: 80 or: 111, red-cube x: -36 y: 27 z: 80 or: 99, yellow-ball x: -50 y: -51 z: 20 or: 93, banana x: -52 y: 45 z: 20 or: 173, remote x: 47 y: 7 z: 30 or: 163, pen x: 12 y: -41 z: 10 or: 174 ])

pick remote and place to white-cup

close:47;7;30+0;