Use the left arm to pick up the red cube and place it into the red pot. 1. Move the left arm to approach and align with the red cube. 2. Grasp the red cube. 3. Move the left arm to align with the red pot. 4. Release the gripper to place the red cube into the red pot. grasped contact near aligned_with inside on_top_of supports separated_from left_of right_of above below in_front_of behind