allowed_skills: reach grasp

family: pick

relation: grasped lifted

affordances: graspable container

category: mug

color: red

shape: cylindrical


allowed_skills: reach grasp place

relation: inside near

category: bowl

color: blue

shape: round


allowed_skills: push place

instruction_templates: Put the green block left of the yellow block.

affordances: pushable graspable

category: block

color: green

shape: cube

color: yellow