Retrieve an object from the top shelf every 30 seconds for the next 5 minutes and place it in the bin.
###Human:
generate CIL (high level robotic commands) for the prompt Retrieve an object from the top shelf every 30 seconds for the next 5 minutes and place it in the bin.

###assistant:
P:object1; L:10; {D:30; Mz:top_shelf; Mo:#object1; G:1; Mz:bin; G:0;}