Datasets:

marcomaccarini

/

1_icra_pick_and_place

like 0

table([ eof x: -288 y: 124 z: 618, gripper: open , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: 24 y: 29 z: 80 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

above:24;29;80+35;30;

table([ eof x: 24 y: 29 z: 115, gripper: open , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: 24 y: 29 z: 80 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

close:24;29;80+0;30;

table([ eof x: 24 y: 29 z: 80, gripper: open , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: 24 y: 29 z: 80 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

grasp:grasp

table([ eof x: 24 y: 29 z: 80, gripper: close , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: 24 y: 29 z: 80 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

up:24;29;80+45;30;

table([ eof x: 24 y: 29 z: 125, gripper: close , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: 24 y: 29 z: 125 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

above:-5;48;80+30;0;

table([ eof x: -5 y: 48 z: 110, gripper: close , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: -5 y: 48 z: 110 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

leave:leave

table([ eof x: -5 y: 48 z: 110, gripper: open , black-cup x: -5 y: 48 z: 80, white-cup x: 46 y: -30 z: 60, box x: -28 y: 47 z: 100, green-cylinder x: -5 y: 48 z: 80 or: 30, green-cube x: 53 y: 3 z: 80 or: 105, grey-cube x: 40 y: 21 z: 80 or: 175, red-cube x: 42 y: -58 z: 80 or: 139, yellow-ball x: -19 y: 37 z: 20 or: 169, banana x: -53 y: 1 z: 20 or: 133, remote x: -1 y: 29 z: 30 or: 65, pen x: 59 y: -53 z: 10 or: 85 ])

pick green-cylinder and place to black-cup

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

table([ eof x: -200 y: -281 z: 389, gripper: open , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -19 y: -20 z: 80 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

above:-19;-20;80+35;105;

table([ eof x: -19 y: -20 z: 115, gripper: open , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -19 y: -20 z: 80 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

close:-19;-20;80+0;105;

table([ eof x: -19 y: -20 z: 80, gripper: open , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -19 y: -20 z: 80 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

grasp:grasp

table([ eof x: -19 y: -20 z: 80, gripper: close , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -19 y: -20 z: 80 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

up:-19;-20;80+45;105;

table([ eof x: -19 y: -20 z: 125, gripper: close , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -19 y: -20 z: 125 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

above:-58;27;80+30;0;

table([ eof x: -58 y: 27 z: 110, gripper: close , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -58 y: 27 z: 110 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

leave:leave

table([ eof x: -58 y: 27 z: 110, gripper: open , black-cup x: -58 y: 27 z: 80, white-cup x: 54 y: 37 z: 60, box x: -27 y: 12 z: 100, green-cylinder x: -46 y: 31 z: 80 or: 30, green-cube x: -58 y: 27 z: 80 or: 105, grey-cube x: 19 y: -14 z: 80 or: 175, red-cube x: -3 y: 29 z: 80 or: 139, yellow-ball x: 50 y: -54 z: 20 or: 169, banana x: 59 y: 35 z: 20 or: 133, remote x: -49 y: 32 z: 30 or: 65, pen x: 23 y: -6 z: 10 or: 85 ])

pick green-cube and place to black-cup

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

table([ eof x: -189 y: 355 z: 567, gripper: open , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -10 y: -38 z: 80 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

above:-10;-38;80+35;175;

table([ eof x: -10 y: -38 z: 115, gripper: open , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -10 y: -38 z: 80 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

close:-10;-38;80+0;175;

table([ eof x: -10 y: -38 z: 80, gripper: open , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -10 y: -38 z: 80 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

grasp:grasp

table([ eof x: -10 y: -38 z: 80, gripper: close , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -10 y: -38 z: 80 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

up:-10;-38;80+45;175;

table([ eof x: -10 y: -38 z: 125, gripper: close , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -10 y: -38 z: 125 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

above:-55;51;80+30;0;

table([ eof x: -55 y: 51 z: 110, gripper: close , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -55 y: 51 z: 110 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

leave:leave

table([ eof x: -55 y: 51 z: 110, gripper: open , black-cup x: -55 y: 51 z: 80, white-cup x: -32 y: -15 z: 60, box x: -37 y: 35 z: 100, green-cylinder x: 26 y: -53 z: 80 or: 30, green-cube x: 5 y: 29 z: 80 or: 105, grey-cube x: -55 y: 51 z: 80 or: 175, red-cube x: 28 y: -6 z: 80 or: 139, yellow-ball x: 58 y: -49 z: 20 or: 169, banana x: 7 y: 36 z: 20 or: 133, remote x: 2 y: -54 z: 30 or: 65, pen x: -2 y: 56 z: 10 or: 85 ])

pick grey-cube and place to black-cup

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

table([ eof x: -245 y: 169 z: 199, gripper: open , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: 27 y: -37 z: 80 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

above:27;-37;80+35;139;

table([ eof x: 27 y: -37 z: 115, gripper: open , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: 27 y: -37 z: 80 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

close:27;-37;80+0;139;

table([ eof x: 27 y: -37 z: 80, gripper: open , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: 27 y: -37 z: 80 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

grasp:grasp

table([ eof x: 27 y: -37 z: 80, gripper: close , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: 27 y: -37 z: 80 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

up:27;-37;80+45;139;

table([ eof x: 27 y: -37 z: 125, gripper: close , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: 27 y: -37 z: 125 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

above:-13;47;80+30;0;

table([ eof x: -13 y: 47 z: 110, gripper: close , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: -13 y: 47 z: 110 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

leave:leave

table([ eof x: -13 y: 47 z: 110, gripper: open , black-cup x: -13 y: 47 z: 80, white-cup x: 28 y: -27 z: 60, box x: -44 y: 34 z: 100, green-cylinder x: 38 y: 55 z: 80 or: 30, green-cube x: 29 y: -38 z: 80 or: 105, grey-cube x: -32 y: 7 z: 80 or: 175, red-cube x: -13 y: 47 z: 80 or: 139, yellow-ball x: -45 y: 46 z: 20 or: 169, banana x: 44 y: 0 z: 20 or: 133, remote x: -6 y: 44 z: 30 or: 65, pen x: -54 y: 40 z: 10 or: 85 ])

pick red-cube and place to black-cup

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

table([ eof x: -126 y: 296 z: 539, gripper: open , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 54 y: 41 z: 20 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

above:54;41;20+35;169;

table([ eof x: 54 y: 41 z: 55, gripper: open , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 54 y: 41 z: 20 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

close:54;41;20+0;169;

table([ eof x: 54 y: 41 z: 20, gripper: open , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 54 y: 41 z: 20 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

grasp:grasp

table([ eof x: 54 y: 41 z: 20, gripper: close , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 54 y: 41 z: 20 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

up:54;41;20+45;169;

table([ eof x: 54 y: 41 z: 65, gripper: close , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 54 y: 41 z: 65 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

above:55;-9;80+30;0;

table([ eof x: 55 y: -9 z: 110, gripper: close , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 55 y: -9 z: 110 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

leave:leave

table([ eof x: 55 y: -9 z: 110, gripper: open , black-cup x: 55 y: -9 z: 80, white-cup x: -30 y: 28 z: 60, box x: 51 y: 37 z: 100, green-cylinder x: -27 y: 13 z: 80 or: 30, green-cube x: 38 y: -58 z: 80 or: 105, grey-cube x: 3 y: -33 z: 80 or: 175, red-cube x: -25 y: -52 z: 80 or: 139, yellow-ball x: 55 y: -9 z: 80 or: 169, banana x: 38 y: 36 z: 20 or: 133, remote x: -15 y: -36 z: 30 or: 65, pen x: -16 y: -13 z: 10 or: 85 ])

pick yellow-ball and place to black-cup

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

table([ eof x: 146 y: -57 z: 298, gripper: open , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -40 y: -36 z: 20 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

above:-40;-36;20+35;133;

table([ eof x: -40 y: -36 z: 55, gripper: open , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -40 y: -36 z: 20 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

close:-40;-36;20+0;133;

table([ eof x: -40 y: -36 z: 20, gripper: open , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -40 y: -36 z: 20 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

grasp:grasp

table([ eof x: -40 y: -36 z: 20, gripper: close , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -40 y: -36 z: 20 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

up:-40;-36;20+45;133;

table([ eof x: -40 y: -36 z: 65, gripper: close , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -40 y: -36 z: 65 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

above:-21;-27;80+30;0;

table([ eof x: -21 y: -27 z: 110, gripper: close , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -21 y: -27 z: 110 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

leave:leave

table([ eof x: -21 y: -27 z: 110, gripper: open , black-cup x: -21 y: -27 z: 80, white-cup x: -9 y: -33 z: 60, box x: 17 y: -24 z: 100, green-cylinder x: 27 y: -35 z: 80 or: 30, green-cube x: 15 y: -18 z: 80 or: 105, grey-cube x: -8 y: 28 z: 80 or: 175, red-cube x: 49 y: -34 z: 80 or: 139, yellow-ball x: 38 y: -26 z: 20 or: 169, banana x: -21 y: -27 z: 80 or: 133, remote x: 13 y: -30 z: 30 or: 65, pen x: -3 y: 35 z: 10 or: 85 ])

pick banana and place to black-cup

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

table([ eof x: -381 y: -89 z: 152, gripper: open , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 42 y: 15 z: 30 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

above:42;15;30+35;65;

table([ eof x: 42 y: 15 z: 65, gripper: open , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 42 y: 15 z: 30 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

close:42;15;30+0;65;

table([ eof x: 42 y: 15 z: 30, gripper: open , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 42 y: 15 z: 30 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

grasp:grasp

table([ eof x: 42 y: 15 z: 30, gripper: close , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 42 y: 15 z: 30 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

up:42;15;30+45;65;

table([ eof x: 42 y: 15 z: 75, gripper: close , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 42 y: 15 z: 75 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

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

table([ eof x: 30 y: -27 z: 110, gripper: close , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 30 y: -27 z: 110 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

leave:leave

table([ eof x: 30 y: -27 z: 110, gripper: open , black-cup x: 30 y: -27 z: 80, white-cup x: -19 y: 10 z: 60, box x: -26 y: -8 z: 100, green-cylinder x: 53 y: 11 z: 80 or: 30, green-cube x: -30 y: 19 z: 80 or: 105, grey-cube x: 44 y: 5 z: 80 or: 175, red-cube x: -12 y: -29 z: 80 or: 139, yellow-ball x: -38 y: 21 z: 20 or: 169, banana x: -14 y: 14 z: 20 or: 133, remote x: 30 y: -27 z: 80 or: 65, pen x: 59 y: -57 z: 10 or: 85 ])

pick remote and place to black-cup

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

table([ eof x: 6 y: -63 z: 213, gripper: open , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: 26 y: 48 z: 10 or: 85 ])

pick pen and place to black-cup

above:26;48;10+35;85;

table([ eof x: 26 y: 48 z: 45, gripper: open , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: 26 y: 48 z: 10 or: 85 ])

pick pen and place to black-cup

close:26;48;10+0;85;

table([ eof x: 26 y: 48 z: 10, gripper: open , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: 26 y: 48 z: 10 or: 85 ])

pick pen and place to black-cup

grasp:grasp

table([ eof x: 26 y: 48 z: 10, gripper: close , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: 26 y: 48 z: 10 or: 85 ])

pick pen and place to black-cup

up:26;48;10+45;85;

table([ eof x: 26 y: 48 z: 55, gripper: close , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: 26 y: 48 z: 55 or: 85 ])

pick pen and place to black-cup

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

table([ eof x: -30 y: -28 z: 110, gripper: close , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: -30 y: -28 z: 110 or: 85 ])

pick pen and place to black-cup

leave:leave

table([ eof x: -30 y: -28 z: 110, gripper: open , black-cup x: -30 y: -28 z: 80, white-cup x: -52 y: -20 z: 60, box x: -51 y: -33 z: 100, green-cylinder x: 27 y: -40 z: 80 or: 30, green-cube x: -10 y: -47 z: 80 or: 105, grey-cube x: 11 y: -24 z: 80 or: 175, red-cube x: -13 y: 57 z: 80 or: 139, yellow-ball x: -32 y: 37 z: 20 or: 169, banana x: -6 y: 11 z: 20 or: 133, remote x: -30 y: -24 z: 30 or: 65, pen x: -30 y: -28 z: 80 or: 85 ])

pick pen and place to black-cup

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

table([ eof x: -142 y: -341 z: 687, gripper: open , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 45 y: -42 z: 80 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

above:45;-42;80+35;30;

table([ eof x: 45 y: -42 z: 115, gripper: open , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 45 y: -42 z: 80 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

close:45;-42;80+0;30;

table([ eof x: 45 y: -42 z: 80, gripper: open , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 45 y: -42 z: 80 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

grasp:grasp

table([ eof x: 45 y: -42 z: 80, gripper: close , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 45 y: -42 z: 80 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

up:45;-42;80+45;30;

table([ eof x: 45 y: -42 z: 125, gripper: close , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 45 y: -42 z: 125 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

above:4;21;60+30;0;

table([ eof x: 4 y: 21 z: 90, gripper: close , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 4 y: 21 z: 90 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

leave:leave

table([ eof x: 4 y: 21 z: 90, gripper: open , black-cup x: -9 y: 58 z: 80, white-cup x: 4 y: 21 z: 60, box x: 56 y: -52 z: 100, green-cylinder x: 4 y: 21 z: 80 or: 30, green-cube x: -32 y: 37 z: 80 or: 105, grey-cube x: 43 y: -45 z: 80 or: 175, red-cube x: -1 y: 57 z: 80 or: 139, yellow-ball x: 43 y: 26 z: 20 or: 169, banana x: 20 y: 33 z: 20 or: 133, remote x: 48 y: -59 z: 30 or: 65, pen x: -35 y: -27 z: 10 or: 85 ])

pick green-cylinder and place to white-cup

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

table([ eof x: 93 y: 349 z: 265, gripper: open , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -26 z: 80 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

above:25;-26;80+35;105;

table([ eof x: 25 y: -26 z: 115, gripper: open , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -26 z: 80 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

close:25;-26;80+0;105;

table([ eof x: 25 y: -26 z: 80, gripper: open , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -26 z: 80 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

grasp:grasp

table([ eof x: 25 y: -26 z: 80, gripper: close , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -26 z: 80 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

up:25;-26;80+45;105;

table([ eof x: 25 y: -26 z: 125, gripper: close , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -26 z: 125 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

above:25;-33;60+30;0;

table([ eof x: 25 y: -33 z: 90, gripper: close , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -33 z: 90 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

leave:leave

table([ eof x: 25 y: -33 z: 90, gripper: open , black-cup x: 27 y: -57 z: 80, white-cup x: 25 y: -33 z: 60, box x: 14 y: -52 z: 100, green-cylinder x: -8 y: 3 z: 80 or: 30, green-cube x: 25 y: -33 z: 80 or: 105, grey-cube x: -49 y: -59 z: 80 or: 175, red-cube x: -57 y: -29 z: 80 or: 139, yellow-ball x: -31 y: -13 z: 20 or: 169, banana x: -59 y: -24 z: 20 or: 133, remote x: 49 y: 10 z: 30 or: 65, pen x: -18 y: 6 z: 10 or: 85 ])

pick green-cube and place to white-cup

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

table([ eof x: -17 y: -219 z: 593, gripper: open , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: 28 y: 28 z: 80 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

above:28;28;80+35;175;

table([ eof x: 28 y: 28 z: 115, gripper: open , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: 28 y: 28 z: 80 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

close:28;28;80+0;175;

table([ eof x: 28 y: 28 z: 80, gripper: open , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: 28 y: 28 z: 80 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

grasp:grasp

table([ eof x: 28 y: 28 z: 80, gripper: close , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: 28 y: 28 z: 80 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

up:28;28;80+45;175;

table([ eof x: 28 y: 28 z: 125, gripper: close , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: 28 y: 28 z: 125 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

above:-37;-21;60+30;0;

table([ eof x: -37 y: -21 z: 90, gripper: close , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: -37 y: -21 z: 90 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

leave:leave

table([ eof x: -37 y: -21 z: 90, gripper: open , black-cup x: -9 y: 33 z: 80, white-cup x: -37 y: -21 z: 60, box x: -37 y: 27 z: 100, green-cylinder x: 25 y: 38 z: 80 or: 30, green-cube x: -26 y: -12 z: 80 or: 105, grey-cube x: -37 y: -21 z: 80 or: 175, red-cube x: 51 y: 3 z: 80 or: 139, yellow-ball x: -10 y: 0 z: 20 or: 169, banana x: -19 y: 25 z: 20 or: 133, remote x: 46 y: 51 z: 30 or: 65, pen x: 49 y: 33 z: 10 or: 85 ])

pick grey-cube and place to white-cup

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

table([ eof x: 117 y: -112 z: 371, gripper: open , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 35 y: 9 z: 80 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

above:35;9;80+35;139;

table([ eof x: 35 y: 9 z: 115, gripper: open , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 35 y: 9 z: 80 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

close:35;9;80+0;139;

table([ eof x: 35 y: 9 z: 80, gripper: open , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 35 y: 9 z: 80 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

grasp:grasp

table([ eof x: 35 y: 9 z: 80, gripper: close , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 35 y: 9 z: 80 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

up:35;9;80+45;139;

table([ eof x: 35 y: 9 z: 125, gripper: close , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 35 y: 9 z: 125 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

above:25;31;60+30;0;

table([ eof x: 25 y: 31 z: 90, gripper: close , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 25 y: 31 z: 90 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

leave:leave

table([ eof x: 25 y: 31 z: 90, gripper: open , black-cup x: -8 y: -35 z: 80, white-cup x: 25 y: 31 z: 60, box x: 55 y: -49 z: 100, green-cylinder x: -5 y: -30 z: 80 or: 30, green-cube x: 3 y: 7 z: 80 or: 105, grey-cube x: 52 y: 56 z: 80 or: 175, red-cube x: 25 y: 31 z: 80 or: 139, yellow-ball x: -48 y: 45 z: 20 or: 169, banana x: -38 y: 42 z: 20 or: 133, remote x: -13 y: -34 z: 30 or: 65, pen x: 38 y: -41 z: 10 or: 85 ])

pick red-cube and place to white-cup

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

table([ eof x: -301 y: -372 z: 115, gripper: open , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -33 y: 35 z: 20 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

above:-33;35;20+35;169;

table([ eof x: -33 y: 35 z: 55, gripper: open , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -33 y: 35 z: 20 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

close:-33;35;20+0;169;

table([ eof x: -33 y: 35 z: 20, gripper: open , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -33 y: 35 z: 20 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

grasp:grasp

table([ eof x: -33 y: 35 z: 20, gripper: close , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -33 y: 35 z: 20 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

up:-33;35;20+45;169;

table([ eof x: -33 y: 35 z: 65, gripper: close , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -33 y: 35 z: 65 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

above:-40;38;60+30;0;

table([ eof x: -40 y: 38 z: 90, gripper: close , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -40 y: 38 z: 90 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

leave:leave

table([ eof x: -40 y: 38 z: 90, gripper: open , black-cup x: -53 y: 31 z: 80, white-cup x: -40 y: 38 z: 60, box x: -40 y: -30 z: 100, green-cylinder x: -43 y: -49 z: 80 or: 30, green-cube x: -33 y: -52 z: 80 or: 105, grey-cube x: -42 y: 36 z: 80 or: 175, red-cube x: -12 y: 22 z: 80 or: 139, yellow-ball x: -40 y: 38 z: 80 or: 169, banana x: 19 y: -5 z: 20 or: 133, remote x: -47 y: 51 z: 30 or: 65, pen x: 52 y: 48 z: 10 or: 85 ])

pick yellow-ball and place to white-cup

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

table([ eof x: 395 y: 163 z: 498, gripper: open , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: -52 y: -27 z: 20 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

above:-52;-27;20+35;133;

table([ eof x: -52 y: -27 z: 55, gripper: open , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: -52 y: -27 z: 20 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

close:-52;-27;20+0;133;

table([ eof x: -52 y: -27 z: 20, gripper: open , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: -52 y: -27 z: 20 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

grasp:grasp

table([ eof x: -52 y: -27 z: 20, gripper: close , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: -52 y: -27 z: 20 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

up:-52;-27;20+45;133;

table([ eof x: -52 y: -27 z: 65, gripper: close , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: -52 y: -27 z: 65 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

above:57;-31;60+30;0;

table([ eof x: 57 y: -31 z: 90, gripper: close , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: 57 y: -31 z: 90 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

leave:leave

table([ eof x: 57 y: -31 z: 90, gripper: open , black-cup x: 7 y: 42 z: 80, white-cup x: 57 y: -31 z: 60, box x: 16 y: -24 z: 100, green-cylinder x: -8 y: 59 z: 80 or: 30, green-cube x: -34 y: -50 z: 80 or: 105, grey-cube x: 51 y: 11 z: 80 or: 175, red-cube x: 42 y: -33 z: 80 or: 139, yellow-ball x: 31 y: -1 z: 20 or: 169, banana x: 57 y: -31 z: 80 or: 133, remote x: 29 y: 16 z: 30 or: 65, pen x: 41 y: -19 z: 10 or: 85 ])

pick banana and place to white-cup

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

table([ eof x: -315 y: -72 z: 132, gripper: open , black-cup x: -58 y: -27 z: 80, white-cup x: -7 y: -48 z: 60, box x: -58 y: -13 z: 100, green-cylinder x: 5 y: 7 z: 80 or: 30, green-cube x: -28 y: 10 z: 80 or: 105, grey-cube x: 39 y: 35 z: 80 or: 175, red-cube x: -19 y: 21 z: 80 or: 139, yellow-ball x: -32 y: -34 z: 20 or: 169, banana x: -4 y: -51 z: 20 or: 133, remote x: 29 y: -48 z: 30 or: 65, pen x: -2 y: 29 z: 10 or: 85 ])

pick remote and place to white-cup

above:29;-48;30+35;65;

table([ eof x: 29 y: -48 z: 65, gripper: open , black-cup x: -58 y: -27 z: 80, white-cup x: -7 y: -48 z: 60, box x: -58 y: -13 z: 100, green-cylinder x: 5 y: 7 z: 80 or: 30, green-cube x: -28 y: 10 z: 80 or: 105, grey-cube x: 39 y: 35 z: 80 or: 175, red-cube x: -19 y: 21 z: 80 or: 139, yellow-ball x: -32 y: -34 z: 20 or: 169, banana x: -4 y: -51 z: 20 or: 133, remote x: 29 y: -48 z: 30 or: 65, pen x: -2 y: 29 z: 10 or: 85 ])

pick remote and place to white-cup

close:29;-48;30+0;65;