Datasets:

marcomaccarini

/

ds_robot_33_large

like 0

table([ eof x: 159 y: 215 z: 571, gripper: open , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 48 y: 56 z: 80 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

above:48;56;80+35;142;

table([ eof x: 48 y: 56 z: 115, gripper: open , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 48 y: 56 z: 80 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

close:48;56;80+0;142;

table([ eof x: 48 y: 56 z: 80, gripper: open , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 48 y: 56 z: 80 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

grasp:grasp

table([ eof x: 48 y: 56 z: 80, gripper: close , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 48 y: 56 z: 80 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

up:48;56;80+45;142;

table([ eof x: 48 y: 56 z: 125, gripper: close , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 48 y: 56 z: 125 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

above:41;26;80+30;0;

table([ eof x: 41 y: 26 z: 110, gripper: close , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 41 y: 26 z: 110 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

leave:leave

table([ eof x: 41 y: 26 z: 110, gripper: open , black-cup x: 41 y: 26 z: 80, white-cup x: -38 y: -59 z: 60, box x: -40 y: -22 z: 100, green-cylinder x: 41 y: 26 z: 80 or: 142, green-cube x: -58 y: 54 z: 80 or: 83, grey-cube x: 49 y: -45 z: 80 or: 96, red-cube x: -20 y: 39 z: 80 or: 157, yellow-ball x: -44 y: -40 z: 20 or: 41, banana x: 5 y: -24 z: 20 or: 9, remote x: 29 y: 43 z: 30 or: 69, pen x: 18 y: -45 z: 10 or: 174 ])

pick green-cylinder and place to black-cup

home:600;0;480+0;0;

table([ eof x: 85 y: 179 z: 548, gripper: open , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -39 y: -49 z: 80 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

above:-39;-49;80+35;83;

table([ eof x: -39 y: -49 z: 115, gripper: open , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -39 y: -49 z: 80 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

close:-39;-49;80+0;83;

table([ eof x: -39 y: -49 z: 80, gripper: open , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -39 y: -49 z: 80 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

grasp:grasp

table([ eof x: -39 y: -49 z: 80, gripper: close , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -39 y: -49 z: 80 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

up:-39;-49;80+45;83;

table([ eof x: -39 y: -49 z: 125, gripper: close , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -39 y: -49 z: 125 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

above:-54;-27;80+30;0;

table([ eof x: -54 y: -27 z: 110, gripper: close , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -54 y: -27 z: 110 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

leave:leave

table([ eof x: -54 y: -27 z: 110, gripper: open , black-cup x: -54 y: -27 z: 80, white-cup x: -5 y: 59 z: 60, box x: -30 y: 34 z: 100, green-cylinder x: 25 y: -3 z: 80 or: 142, green-cube x: -54 y: -27 z: 80 or: 83, grey-cube x: 56 y: -22 z: 80 or: 96, red-cube x: -32 y: 58 z: 80 or: 157, yellow-ball x: -21 y: 30 z: 20 or: 41, banana x: 2 y: 53 z: 20 or: 9, remote x: -48 y: 31 z: 30 or: 69, pen x: -53 y: -59 z: 10 or: 174 ])

pick green-cube and place to black-cup

home:600;0;480+0;0;

table([ eof x: 201 y: 88 z: 16, gripper: open , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 40 y: -46 z: 80 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

above:40;-46;80+35;96;

table([ eof x: 40 y: -46 z: 115, gripper: open , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 40 y: -46 z: 80 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

close:40;-46;80+0;96;

table([ eof x: 40 y: -46 z: 80, gripper: open , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 40 y: -46 z: 80 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

grasp:grasp

table([ eof x: 40 y: -46 z: 80, gripper: close , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 40 y: -46 z: 80 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

up:40;-46;80+45;96;

table([ eof x: 40 y: -46 z: 125, gripper: close , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 40 y: -46 z: 125 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

above:4;-21;80+30;0;

table([ eof x: 4 y: -21 z: 110, gripper: close , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 4 y: -21 z: 110 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

leave:leave

table([ eof x: 4 y: -21 z: 110, gripper: open , black-cup x: 4 y: -21 z: 80, white-cup x: 47 y: -13 z: 60, box x: 4 y: 52 z: 100, green-cylinder x: -43 y: -52 z: 80 or: 142, green-cube x: -16 y: -50 z: 80 or: 83, grey-cube x: 4 y: -21 z: 80 or: 96, red-cube x: -18 y: -19 z: 80 or: 157, yellow-ball x: 0 y: 33 z: 20 or: 41, banana x: -57 y: -47 z: 20 or: 9, remote x: 13 y: -7 z: 30 or: 69, pen x: -56 y: 0 z: 10 or: 174 ])

pick grey-cube and place to black-cup

home:600;0;480+0;0;

table([ eof x: 98 y: -329 z: 609, gripper: open , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: -36 y: -30 z: 80 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

above:-36;-30;80+35;157;

table([ eof x: -36 y: -30 z: 115, gripper: open , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: -36 y: -30 z: 80 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

close:-36;-30;80+0;157;

table([ eof x: -36 y: -30 z: 80, gripper: open , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: -36 y: -30 z: 80 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

grasp:grasp

table([ eof x: -36 y: -30 z: 80, gripper: close , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: -36 y: -30 z: 80 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

up:-36;-30;80+45;157;

table([ eof x: -36 y: -30 z: 125, gripper: close , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: -36 y: -30 z: 125 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

above:15;18;80+30;0;

table([ eof x: 15 y: 18 z: 110, gripper: close , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: 15 y: 18 z: 110 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

leave:leave

table([ eof x: 15 y: 18 z: 110, gripper: open , black-cup x: 15 y: 18 z: 80, white-cup x: -1 y: 37 z: 60, box x: 22 y: 13 z: 100, green-cylinder x: 5 y: -15 z: 80 or: 142, green-cube x: 40 y: -52 z: 80 or: 83, grey-cube x: 46 y: 25 z: 80 or: 96, red-cube x: 15 y: 18 z: 80 or: 157, yellow-ball x: 8 y: -38 z: 20 or: 41, banana x: 18 y: 57 z: 20 or: 9, remote x: -36 y: 58 z: 30 or: 69, pen x: -17 y: -52 z: 10 or: 174 ])

pick red-cube and place to black-cup

home:600;0;480+0;0;

table([ eof x: 179 y: 265 z: 273, gripper: open , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: 58 y: 0 z: 20 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

above:58;0;20+35;41;

table([ eof x: 58 y: 0 z: 55, gripper: open , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: 58 y: 0 z: 20 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

close:58;0;20+0;41;

table([ eof x: 58 y: 0 z: 20, gripper: open , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: 58 y: 0 z: 20 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

grasp:grasp

table([ eof x: 58 y: 0 z: 20, gripper: close , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: 58 y: 0 z: 20 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

up:58;0;20+45;41;

table([ eof x: 58 y: 0 z: 65, gripper: close , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: 58 y: 0 z: 65 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

above:-22;55;80+30;0;

table([ eof x: -22 y: 55 z: 110, gripper: close , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: -22 y: 55 z: 110 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

leave:leave

table([ eof x: -22 y: 55 z: 110, gripper: open , black-cup x: -22 y: 55 z: 80, white-cup x: 17 y: -58 z: 60, box x: 7 y: 52 z: 100, green-cylinder x: 4 y: -37 z: 80 or: 142, green-cube x: 46 y: -26 z: 80 or: 83, grey-cube x: 44 y: 35 z: 80 or: 96, red-cube x: 34 y: 1 z: 80 or: 157, yellow-ball x: -22 y: 55 z: 80 or: 41, banana x: 3 y: -27 z: 20 or: 9, remote x: -52 y: -27 z: 30 or: 69, pen x: -28 y: -18 z: 10 or: 174 ])

pick yellow-ball and place to black-cup

home:600;0;480+0;0;

table([ eof x: 249 y: -397 z: 27, gripper: open , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -4 y: 10 z: 20 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

above:-4;10;20+35;9;

table([ eof x: -4 y: 10 z: 55, gripper: open , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -4 y: 10 z: 20 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

close:-4;10;20+0;9;

table([ eof x: -4 y: 10 z: 20, gripper: open , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -4 y: 10 z: 20 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

grasp:grasp

table([ eof x: -4 y: 10 z: 20, gripper: close , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -4 y: 10 z: 20 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

up:-4;10;20+45;9;

table([ eof x: -4 y: 10 z: 65, gripper: close , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -4 y: 10 z: 65 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

above:-54;-57;80+30;0;

table([ eof x: -54 y: -57 z: 110, gripper: close , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -54 y: -57 z: 110 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

leave:leave

table([ eof x: -54 y: -57 z: 110, gripper: open , black-cup x: -54 y: -57 z: 80, white-cup x: 2 y: 10 z: 60, box x: -14 y: 55 z: 100, green-cylinder x: -9 y: -43 z: 80 or: 142, green-cube x: -42 y: 31 z: 80 or: 83, grey-cube x: -20 y: -17 z: 80 or: 96, red-cube x: -7 y: 32 z: 80 or: 157, yellow-ball x: 5 y: -28 z: 20 or: 41, banana x: -54 y: -57 z: 80 or: 9, remote x: -48 y: -57 z: 30 or: 69, pen x: -24 y: 38 z: 10 or: 174 ])

pick banana and place to black-cup

home:600;0;480+0;0;

table([ eof x: -212 y: 302 z: 35, gripper: open , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: -54 y: 50 z: 30 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

above:-54;50;30+35;69;

table([ eof x: -54 y: 50 z: 65, gripper: open , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: -54 y: 50 z: 30 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

close:-54;50;30+0;69;

table([ eof x: -54 y: 50 z: 30, gripper: open , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: -54 y: 50 z: 30 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

grasp:grasp

table([ eof x: -54 y: 50 z: 30, gripper: close , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: -54 y: 50 z: 30 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

up:-54;50;30+45;69;

table([ eof x: -54 y: 50 z: 75, gripper: close , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: -54 y: 50 z: 75 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

above:41;32;80+30;0;

table([ eof x: 41 y: 32 z: 110, gripper: close , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: 41 y: 32 z: 110 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

leave:leave

table([ eof x: 41 y: 32 z: 110, gripper: open , black-cup x: 41 y: 32 z: 80, white-cup x: -34 y: -27 z: 60, box x: -44 y: 0 z: 100, green-cylinder x: -50 y: 11 z: 80 or: 142, green-cube x: 43 y: 28 z: 80 or: 83, grey-cube x: -21 y: 26 z: 80 or: 96, red-cube x: 8 y: 8 z: 80 or: 157, yellow-ball x: 5 y: -49 z: 20 or: 41, banana x: -27 y: 20 z: 20 or: 9, remote x: 41 y: 32 z: 80 or: 69, pen x: 49 y: 56 z: 10 or: 174 ])

pick remote and place to black-cup

home:600;0;480+0;0;

table([ eof x: 111 y: 167 z: 526, gripper: open , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: 40 y: 39 z: 10 or: 174 ])

pick pen and place to black-cup

above:40;39;10+35;174;

table([ eof x: 40 y: 39 z: 45, gripper: open , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: 40 y: 39 z: 10 or: 174 ])

pick pen and place to black-cup

close:40;39;10+0;174;

table([ eof x: 40 y: 39 z: 10, gripper: open , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: 40 y: 39 z: 10 or: 174 ])

pick pen and place to black-cup

grasp:grasp

table([ eof x: 40 y: 39 z: 10, gripper: close , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: 40 y: 39 z: 10 or: 174 ])

pick pen and place to black-cup

up:40;39;10+45;174;

table([ eof x: 40 y: 39 z: 55, gripper: close , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: 40 y: 39 z: 55 or: 174 ])

pick pen and place to black-cup

above:-28;-20;80+30;0;

table([ eof x: -28 y: -20 z: 110, gripper: close , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: -28 y: -20 z: 110 or: 174 ])

pick pen and place to black-cup

leave:leave

table([ eof x: -28 y: -20 z: 110, gripper: open , black-cup x: -28 y: -20 z: 80, white-cup x: -54 y: -53 z: 60, box x: 9 y: 38 z: 100, green-cylinder x: 33 y: 7 z: 80 or: 142, green-cube x: 44 y: 52 z: 80 or: 83, grey-cube x: -42 y: -46 z: 80 or: 96, red-cube x: 13 y: -17 z: 80 or: 157, yellow-ball x: -24 y: 34 z: 20 or: 41, banana x: -40 y: 3 z: 20 or: 9, remote x: 54 y: -57 z: 30 or: 69, pen x: -28 y: -20 z: 80 or: 174 ])

pick pen and place to black-cup

home:600;0;480+0;0;

table([ eof x: -61 y: -203 z: 626, gripper: open , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: -20 y: -55 z: 80 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

above:-20;-55;80+35;142;

table([ eof x: -20 y: -55 z: 115, gripper: open , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: -20 y: -55 z: 80 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

close:-20;-55;80+0;142;

table([ eof x: -20 y: -55 z: 80, gripper: open , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: -20 y: -55 z: 80 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

grasp:grasp

table([ eof x: -20 y: -55 z: 80, gripper: close , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: -20 y: -55 z: 80 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

up:-20;-55;80+45;142;

table([ eof x: -20 y: -55 z: 125, gripper: close , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: -20 y: -55 z: 125 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

above:6;-10;60+30;0;

table([ eof x: 6 y: -10 z: 90, gripper: close , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: 6 y: -10 z: 90 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

leave:leave

table([ eof x: 6 y: -10 z: 90, gripper: open , black-cup x: 59 y: -40 z: 80, white-cup x: 6 y: -10 z: 60, box x: 4 y: 41 z: 100, green-cylinder x: 6 y: -10 z: 80 or: 142, green-cube x: -1 y: 3 z: 80 or: 83, grey-cube x: 58 y: 42 z: 80 or: 96, red-cube x: 45 y: -29 z: 80 or: 157, yellow-ball x: 32 y: -42 z: 20 or: 41, banana x: 29 y: -59 z: 20 or: 9, remote x: -43 y: -13 z: 30 or: 69, pen x: 37 y: 31 z: 10 or: 174 ])

pick green-cylinder and place to white-cup

home:600;0;480+0;0;

table([ eof x: 136 y: 35 z: 630, gripper: open , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -23 y: 15 z: 80 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

above:-23;15;80+35;83;

table([ eof x: -23 y: 15 z: 115, gripper: open , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -23 y: 15 z: 80 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

close:-23;15;80+0;83;

table([ eof x: -23 y: 15 z: 80, gripper: open , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -23 y: 15 z: 80 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

grasp:grasp

table([ eof x: -23 y: 15 z: 80, gripper: close , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -23 y: 15 z: 80 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

up:-23;15;80+45;83;

table([ eof x: -23 y: 15 z: 125, gripper: close , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -23 y: 15 z: 125 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

above:-5;1;60+30;0;

table([ eof x: -5 y: 1 z: 90, gripper: close , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -5 y: 1 z: 90 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

leave:leave

table([ eof x: -5 y: 1 z: 90, gripper: open , black-cup x: -24 y: -22 z: 80, white-cup x: -5 y: 1 z: 60, box x: 31 y: -55 z: 100, green-cylinder x: 17 y: 12 z: 80 or: 142, green-cube x: -5 y: 1 z: 80 or: 83, grey-cube x: -49 y: -11 z: 80 or: 96, red-cube x: -56 y: -33 z: 80 or: 157, yellow-ball x: 3 y: 51 z: 20 or: 41, banana x: 59 y: 11 z: 20 or: 9, remote x: -37 y: -59 z: 30 or: 69, pen x: 51 y: 24 z: 10 or: 174 ])

pick green-cube and place to white-cup

home:600;0;480+0;0;

table([ eof x: 361 y: 219 z: 414, gripper: open , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -59 y: 40 z: 80 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

above:-59;40;80+35;96;

table([ eof x: -59 y: 40 z: 115, gripper: open , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -59 y: 40 z: 80 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

close:-59;40;80+0;96;

table([ eof x: -59 y: 40 z: 80, gripper: open , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -59 y: 40 z: 80 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

grasp:grasp

table([ eof x: -59 y: 40 z: 80, gripper: close , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -59 y: 40 z: 80 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

up:-59;40;80+45;96;

table([ eof x: -59 y: 40 z: 125, gripper: close , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -59 y: 40 z: 125 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

above:-7;-27;60+30;0;

table([ eof x: -7 y: -27 z: 90, gripper: close , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -7 y: -27 z: 90 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

leave:leave

table([ eof x: -7 y: -27 z: 90, gripper: open , black-cup x: 17 y: -39 z: 80, white-cup x: -7 y: -27 z: 60, box x: -7 y: 51 z: 100, green-cylinder x: -8 y: -43 z: 80 or: 142, green-cube x: 2 y: -58 z: 80 or: 83, grey-cube x: -7 y: -27 z: 80 or: 96, red-cube x: -25 y: 37 z: 80 or: 157, yellow-ball x: -12 y: 30 z: 20 or: 41, banana x: 22 y: -44 z: 20 or: 9, remote x: -17 y: 50 z: 30 or: 69, pen x: 36 y: -53 z: 10 or: 174 ])

pick grey-cube and place to white-cup

home:600;0;480+0;0;

table([ eof x: -220 y: 180 z: 615, gripper: open , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: -55 y: 2 z: 80 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

above:-55;2;80+35;157;

table([ eof x: -55 y: 2 z: 115, gripper: open , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: -55 y: 2 z: 80 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

close:-55;2;80+0;157;

table([ eof x: -55 y: 2 z: 80, gripper: open , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: -55 y: 2 z: 80 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

grasp:grasp

table([ eof x: -55 y: 2 z: 80, gripper: close , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: -55 y: 2 z: 80 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

up:-55;2;80+45;157;

table([ eof x: -55 y: 2 z: 125, gripper: close , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: -55 y: 2 z: 125 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

above:24;46;60+30;0;

table([ eof x: 24 y: 46 z: 90, gripper: close , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: 24 y: 46 z: 90 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

leave:leave

table([ eof x: 24 y: 46 z: 90, gripper: open , black-cup x: 50 y: 54 z: 80, white-cup x: 24 y: 46 z: 60, box x: -53 y: 37 z: 100, green-cylinder x: -31 y: 10 z: 80 or: 142, green-cube x: 59 y: 20 z: 80 or: 83, grey-cube x: -25 y: 46 z: 80 or: 96, red-cube x: 24 y: 46 z: 80 or: 157, yellow-ball x: -25 y: -47 z: 20 or: 41, banana x: 32 y: 55 z: 20 or: 9, remote x: 28 y: -21 z: 30 or: 69, pen x: -16 y: 41 z: 10 or: 174 ])

pick red-cube and place to white-cup

home:600;0;480+0;0;

table([ eof x: -123 y: 106 z: 168, gripper: open , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: 12 y: -44 z: 20 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

above:12;-44;20+35;41;

table([ eof x: 12 y: -44 z: 55, gripper: open , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: 12 y: -44 z: 20 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

close:12;-44;20+0;41;

table([ eof x: 12 y: -44 z: 20, gripper: open , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: 12 y: -44 z: 20 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

grasp:grasp

table([ eof x: 12 y: -44 z: 20, gripper: close , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: 12 y: -44 z: 20 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

up:12;-44;20+45;41;

table([ eof x: 12 y: -44 z: 65, gripper: close , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: 12 y: -44 z: 65 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

above:-9;-22;60+30;0;

table([ eof x: -9 y: -22 z: 90, gripper: close , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: -9 y: -22 z: 90 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

leave:leave

table([ eof x: -9 y: -22 z: 90, gripper: open , black-cup x: -1 y: -26 z: 80, white-cup x: -9 y: -22 z: 60, box x: 16 y: 3 z: 100, green-cylinder x: 7 y: -20 z: 80 or: 142, green-cube x: 12 y: 45 z: 80 or: 83, grey-cube x: -33 y: -45 z: 80 or: 96, red-cube x: -32 y: 14 z: 80 or: 157, yellow-ball x: -9 y: -22 z: 80 or: 41, banana x: -25 y: 33 z: 20 or: 9, remote x: 15 y: -42 z: 30 or: 69, pen x: -36 y: 41 z: 10 or: 174 ])

pick yellow-ball and place to white-cup

home:600;0;480+0;0;

table([ eof x: 251 y: -195 z: 39, gripper: open , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: 57 y: -23 z: 20 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

above:57;-23;20+35;9;

table([ eof x: 57 y: -23 z: 55, gripper: open , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: 57 y: -23 z: 20 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

close:57;-23;20+0;9;

table([ eof x: 57 y: -23 z: 20, gripper: open , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: 57 y: -23 z: 20 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

grasp:grasp

table([ eof x: 57 y: -23 z: 20, gripper: close , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: 57 y: -23 z: 20 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

up:57;-23;20+45;9;

table([ eof x: 57 y: -23 z: 65, gripper: close , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: 57 y: -23 z: 65 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

above:-10;-6;60+30;0;

table([ eof x: -10 y: -6 z: 90, gripper: close , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: -10 y: -6 z: 90 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

leave:leave

table([ eof x: -10 y: -6 z: 90, gripper: open , black-cup x: -58 y: -44 z: 80, white-cup x: -10 y: -6 z: 60, box x: -14 y: -37 z: 100, green-cylinder x: 38 y: -40 z: 80 or: 142, green-cube x: 46 y: -59 z: 80 or: 83, grey-cube x: -27 y: -32 z: 80 or: 96, red-cube x: 35 y: -14 z: 80 or: 157, yellow-ball x: -11 y: 22 z: 20 or: 41, banana x: -10 y: -6 z: 80 or: 9, remote x: -24 y: 45 z: 30 or: 69, pen x: 17 y: 40 z: 10 or: 174 ])

pick banana and place to white-cup

home:600;0;480+0;0;

table([ eof x: -12 y: -367 z: 24, gripper: open , black-cup x: -46 y: 54 z: 80, white-cup x: -19 y: -19 z: 60, box x: 10 y: 55 z: 100, green-cylinder x: -55 y: -34 z: 80 or: 142, green-cube x: 38 y: 28 z: 80 or: 83, grey-cube x: -41 y: 32 z: 80 or: 96, red-cube x: 2 y: -45 z: 80 or: 157, yellow-ball x: -21 y: 29 z: 20 or: 41, banana x: 52 y: 7 z: 20 or: 9, remote x: 48 y: -18 z: 30 or: 69, pen x: -44 y: 39 z: 10 or: 174 ])

pick remote and place to white-cup

above:48;-18;30+35;69;

table([ eof x: 48 y: -18 z: 65, gripper: open , black-cup x: -46 y: 54 z: 80, white-cup x: -19 y: -19 z: 60, box x: 10 y: 55 z: 100, green-cylinder x: -55 y: -34 z: 80 or: 142, green-cube x: 38 y: 28 z: 80 or: 83, grey-cube x: -41 y: 32 z: 80 or: 96, red-cube x: 2 y: -45 z: 80 or: 157, yellow-ball x: -21 y: 29 z: 20 or: 41, banana x: 52 y: 7 z: 20 or: 9, remote x: 48 y: -18 z: 30 or: 69, pen x: -44 y: 39 z: 10 or: 174 ])

pick remote and place to white-cup

close:48;-18;30+0;69;