This is the first subtask, and no subtasks have been completed yet.

The robot moved to the storage box and placed the tennis ball inside.

The robot has moved to the storage box and placed the tennis ball and green dice inside.

The robot has moved to the storage box and placed the tennis ball, green dice, and brown dice inside.

The robot has moved to the storage box and placed the tennis ball, green dice, and brown dice inside, while currently holding the yellow dice.

The robot has moved to the storage box and placed the tennis ball, green dice, brown dice, and yellow dice into the storage box.

Move to the storage box and organize the toys by picking up the tennis ball from the ground and placing it inside, followed by placing the green dice and the brown dice into the box. Next, pick up the yellow dice from its current location and place it into the storage box. Finally, close the storage box with the lid to complete the organization.


pick up the tennis ball and place it into the storage box

The robot has picked up the tennis ball.

The robot has picked up the tennis ball and placed it into the storage box.

The robot has placed the tennis ball and brown dice into the storage box.

place the green die into the storage box

The robot has placed the tennis ball and brown dice into the storage box and is currently holding the green die.

The robot has organized the tennis ball, brown dice, and green die into the storage box.

The robot has organized the tennis ball, brown dice, and green die into the storage box and is currently holding the yellow dice.

The robot has organized the tennis ball, brown dice, green die, and yellow dice into the storage box.

pick up the red dice and place it into the storage box

The robot has organized the tennis ball, brown dice, green die, and yellow dice into the storage box and is currently aiming at the cabinet.

The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box.

pick up the tennis ball on the storage cabinet and place it into the storage box

The robot has organized multiple toys, including tennis balls and various colored dice, by picking them up and placing them into the storage box, and has adjusted its posture.

Organize the scattered toys by first picking up the tennis ball and placing it into the storage box. Next, pick up the brown dice and place it into the storage box. Then, pick up the green die and place it into the storage box. After that, pick up the yellow dice and place it into the storage box. Aim at the cabinet, pick up the red dice, and place it into the storage box. Adjust the robot posture, then pick up the tennis ball from the storage cabinet and place it into the storage box. Finally, close the storage box with the lid.


The red dice has been placed into the storage box.

pick up the tennis ball on the ground and place it into the storage box

The robot has placed the red and yellow dice into the storage box.

The robot has placed the red dice, yellow dice, and tennis ball into the storage box.

The robot has placed the red dice, yellow dice, and tennis ball into the storage box and adjusted its posture.

The robot has placed the red dice, yellow dice, and a tennis ball into the storage box, adjusted its posture, and picked up another tennis ball.

place the tennis ball into the storage box

The robot has placed the red dice, yellow dice, and a tennis ball into the storage box, adjusted its posture, picked up another tennis ball, and is currently aiming at the storage box.

The robot has organized the red dice, yellow dice, and tennis ball into the storage box.

The robot has organized the red dice, yellow dice, and tennis balls into the storage box.

The robot has organized the red dice, yellow dice, and tennis balls into the storage box and is currently holding the green dice.

The robot has organized the red, yellow, and green dice and the tennis ball into the storage box.

The robot has organized the red, yellow, and green dice along with the tennis ball into the storage box.

place the brown die into the storage box

The robot has organized multiple toys, including red, yellow, green, and brown dice along with a tennis ball, by picking them up and placing them into the storage box.

Organize the scattered toys by first picking up the red, yellow, and green dice, placing each into the storage box. Next, retrieve the tennis ball from the ground, adjust your posture to aim at the box, and place the ball inside. Then, pick up the brown dice, retreat from the table, and place it into the storage box. Finally, close the storage box to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

The yellow dice has been placed into the storage box.

The robot has placed the yellow dice into the storage box and adjusted its posture.

The robot has placed the yellow dice into the storage box and picked up the tennis ball.

place the tennis dice into the storage box

The robot has placed the yellow dice into the storage box and is currently holding the tennis ball while aiming at the storage box.

The robot has placed the yellow dice and the tennis ball into the storage box.

The robot has placed the yellow dice and tennis ball into the storage box.

The robot has organized the yellow dice, tennis ball, and red dice into the storage box.

The robot has organized the yellow dice, tennis ball, and red dice into the storage box and is currently holding the storage box lid.

The robot has organized the yellow dice, tennis ball, and red dice into the storage box and is currently aiming at the table.

Organize the toys by first adjusting the robot posture, then picking up the yellow dice, the tennis ball, and the red dice in sequence. Aim at the storage box and place each of these items inside. After loading all three objects, adjust the robot posture again, pick up the storage box lid, aim at the table, and finally close the storage box to complete the organization.


pick up the right tennis ball and place it into the storage box

The right tennis ball has been placed into the storage box.

pick up the tennis ball from the ground and place it into the storage box

The robot has placed a tennis ball into the storage box and picked up another tennis ball.

The robot has placed multiple tennis balls into the storage box.

The robot has placed multiple tennis balls into the storage box and is currently aiming at the storage cabinet.

The robot has placed multiple tennis balls and a brown dice into the storage box.

The robot has placed the right tennis ball, a brown dice, and a yellow dice into the storage box.

The robot has organized toys by placing tennis balls and dice into the storage box and adjusted its posture.

The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box.

pick up the green dice and place it into the storage box

The robot has successfully organized multiple toys, including tennis balls and dice of various colors, by picking them up and placing them into the storage box.

The robot has organized multiple toys, including tennis balls and various colored dice, by placing them into the storage box and is currently holding the storage box lid.

Organize the scattered toys by first adjusting your posture to pick up a tennis ball from the ground and placing it into the storage box. Next, aim at the storage cabinet to pick up the brown dice and place it inside, then adjust your posture again to pick up the yellow dice and place it in the box. Continue by adjusting your posture to pick up the red dice and place it in the storage box, followed by another posture adjustment to pick up the green dice and place it in the box. Finally, pick up the storage box lid and close the storage box securely.


This is the first subtask, and no subtasks have been completed yet.

The robot has picked up the yellow dice.

The robot has picked up the yellow dice and placed it into the storage box.

pick up the front tennis ball and place it in the storage box

The robot has placed the yellow and red dice into the storage box.

The robot has placed the yellow dice, red dice, and a tennis ball into the storage box.

The robot has placed the yellow dice, red dice, and front tennis ball into the storage box and is currently holding a tennis ball.

The robot has organized the toys by placing the yellow dice, red dice, and tennis balls into the storage box.

The robot has organized the yellow and red dice and both tennis balls into the storage box and is currently aiming at the storage cabinet.

The robot has organized multiple toys, including yellow, red, and brown dice, as well as tennis balls, by picking them up and placing them into the storage box.

The robot has organized multiple dice and tennis balls by picking them up and placing them into the storage box.

Organize the scattered toys by first picking up the yellow dice and placing it into the storage box. Next, pick up the red dice and place it into the storage box, followed by picking up the front tennis ball and placing it in the storage box. Then, pick up the tennis ball from the ground and place it into the storage box. Aim at the storage cabinet, pick up the brown dice, and place it into the storage box. Aim at the cabinet again, pick up the green dice, and place it into the storage box. Finally, close the storage box with the lid.


The brown dice has been placed into the storage box.

The robot has placed the brown dice and the tennis ball into the storage box.

The robot has placed the brown dice, tennis ball, and green dice into the storage box.

The robot has placed the brown dice, tennis ball, green dice, and red dice into the storage box.

The robot has placed the brown, green, and red dice along with a tennis ball into the storage box and adjusted its posture.

The robot has placed the brown, green, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently holding a second tennis ball.

The robot has placed the brown, green, and red dice and one tennis ball into the storage box, adjusted its posture, and is currently aiming at the storage box with a second tennis ball.

The robot has organized multiple toys, including brown, green, and red dice along with tennis balls, by placing them into the storage box.

The robot has organized the brown, green, and red dice, and the tennis ball into the storage box, and is currently holding the yellow dice.

place the yellow die into the storage box

The robot has organized multiple toys, including brown, green, red, and yellow dice along with tennis balls, by picking them up and placing them into the storage box.

The robot has successfully organized multiple toys, including brown, green, red, and yellow dice along with tennis balls, by placing them into the storage box.

Organize the scattered toys by placing the brown dice, tennis ball, green dice, red dice, and yellow dice into the storage box. Begin by picking up the brown dice and placing it in the box, followed by retrieving the tennis ball from the ground and placing it inside. Next, pick up the green dice and place it in the box, then do the same for the red dice. Afterward, adjust your posture, pick up the tennis ball again, aim at the storage box, and place it inside. Adjust your posture once more, pick up the yellow dice, aim at the storage box, and place the yellow die inside. Finally, close the storage box with its lid to complete the organization.


This is the first subtask, and no subtasks have been completed yet.

The tennis ball has been placed into the storage box.

The robot has placed the tennis ball into the storage box and adjusted its posture.

The robot has placed the tennis ball and yellow dice into the storage box and adjusted its posture.

The robot has placed the tennis ball, yellow dice, and brown dice into the storage box and adjusted its posture.

The robot has organized multiple toys, including tennis balls and dice, by picking them up from various locations and placing them into the storage box, while also adjusting its posture and moving to the right.

The robot has organized multiple toys, including tennis balls and dice, by picking them up and placing them into the storage box, while adjusting its posture and moving to the right.

The robot has organized multiple toys, including tennis balls and dice of various colors, by picking them up from different locations and placing them into the storage box.

Organize the scattered toys by first picking up the tennis ball and placing it into the storage box, then adjusting the robot posture. Next, move to the right to access the yellow dice, pick it up, and place it in the box. Adjust the posture again, then pick up the brown dice and place it in the storage box. Aim at the cabinet, pick up the tennis ball located there, and place it into the box. Finally, pick up the red dice and place it in the storage box before closing the box with its lid.


The robot has moved to the green dice and the storage box.

The robot moved to the green dice, then to the storage box, and placed the brown dice into the storage box.

The robot has moved to the green dice and storage box, placed the brown dice into the storage box, and picked up the red dice.

The robot has moved to the green dice, placed the brown and red dice into the storage box.

The robot has moved to the green dice, navigated to the storage box, and successfully placed the brown and red dice inside the box.

The robot has moved to the green dice, placed the brown and red dice into the storage box, and is currently holding the green dice while aiming at the storage box.

The robot has organized the brown, red, and green dice by placing them into the storage box.

The robot has organized the brown, red, and green dice into the storage box.

The robot has organized the green dice, brown dice, red dice, and right tennis ball into the storage box.

The robot has organized the green, brown, and red dice and a tennis ball into the storage box.

The robot has organized the green dice, brown dice, red dice, and two tennis balls into the storage box.

The robot has organized the green and brown dice, both red and green dice, and two tennis balls into the storage box and is currently holding the storage box lid.

Organize the toys by first moving to the green dice, then proceeding to the storage box. Pick up the brown dice and place it inside the box. Next, pick up the red dice and place it into the storage box. Retrieve the green dice and place it into the storage box as well. Then, pick up the right tennis ball and place it into the storage box. After that, pick up the tennis ball from the storage cabinet and place it into the storage box. Finally, pick up the storage box lid and close the box securely.


This is the first subtask, and no subtasks have been completed yet.

The brown dice has been placed into the storage box.

The robot has placed the brown and green dice into the storage box.

pick up the tennis ball on the storage cabinet

The robot has placed the brown and green dice into the storage box and adjusted its posture.

pick up the tennis ball from the storage cabinet and place it into the storage box

The robot has placed the brown and green dice into the storage box, adjusted its posture, and picked up the tennis ball from the storage cabinet.

The robot has placed the brown and green dice into the storage box and transferred the tennis ball from the storage cabinet to the storage box.

The robot has placed the brown and green dice into the storage box, adjusted its posture, and moved the tennis ball from the storage cabinet to the storage box.

The robot has organized the brown, green, and red dice and the tennis ball into the storage box.

The robot has organized the brown, green, red, and yellow dice and the tennis ball into the storage box.

Organize the toys by first adjusting the robot posture, then picking up the brown, green, red, and yellow dice from the storage cabinet and placing each into the storage box. Next, aim at the cabinet to pick up the tennis ball and place it into the storage box. Finally, close the storage box with the lid.


The robot has moved to the storage box lid.

The robot moved to the storage box lid and placed the red dice inside the storage box.

pick up the rear tennis ball and place it into the storage box

The robot moved to the storage box lid, placed the red dice into the box, and picked up the right tennis ball.

The robot moved to the storage box lid, placed the red dice into the box, and put both tennis balls into the storage box.

The robot has moved to the storage box lid and placed the red dice and three tennis balls into the storage box.

The robot has moved to the storage box lid and placed the red dice, right tennis ball, rear tennis ball, another tennis ball from the ground, and the yellow dice into the storage box.

The robot has moved to the storage box lid and placed the red, yellow, and green dice along with three tennis balls into the storage box.

pick up the brown dice and the storage box lid

The robot has moved to the storage box lid and placed the red, yellow, and green dice, along with three tennis balls, into the storage box, while currently holding the brown dice.

The robot has moved to the storage box lid, placed the red, yellow, and green dice into the box, and stored three tennis balls, while currently holding the brown dice and the storage box lid.

The robot organized toys by placing red, yellow, green, and brown dice along with three tennis balls into the storage box and closing the lid.

The robot has organized multiple toys, including red, yellow, green, and brown dice along with three tennis balls, by placing them into the storage box and closing the lid.

The robot has organized multiple toys, including red, yellow, green, and brown dice along with three tennis balls, into the storage box and closed the lid.

Move to the storage box lid, then pick up the red dice and place it into the storage box. Next, pick up the right tennis ball, followed by the rear tennis ball and place it into the storage box. Then, pick up the tennis ball from the ground and place it into the storage box. After that, pick up the yellow dice and place it into the storage box, followed by the green dice and place it into the storage box. Pick up the brown dice and the storage box lid, close the storage box lid, place the brown die into the storage box, pick up the storage box lid, and finally close the storage box with the lid.


pick up the tennis ball on the storage lid and place it into the storage box

This is the first subtask, and no subtasks have been completed yet.

The tennis ball has been picked up from the storage lid and placed into the storage box.

The robot has placed the tennis ball and green dice into the storage box.

The robot has placed the tennis balls and green dice into the storage box.

The robot has placed the tennis balls and green dice into the storage box and is currently aiming at the cabinet.

The robot has placed the tennis balls and green dice into the storage box and is currently holding the red dice while aiming at the cabinet.

The robot has placed the tennis balls and red dice into the storage box and is currently aiming at the cabinet.

pick up the yellow dice and place it into the storage box

The robot has organized multiple toys, including tennis balls and red dice, by placing them into the storage box.

The robot has organized multiple toys, including tennis balls and red, green, and yellow dice, by placing them into the storage box.

The robot organized toys by placing a tennis ball, green dice, red dice, and yellow dice into the storage box and then closed the box with the lid.

The robot organized toys by picking up tennis balls and dice from the storage lid, ground, and cabinet, placing them into the storage box, and closing the box with its lid.

Organize the scattered toys by first picking up the tennis ball from the storage lid and placing it into the storage box, followed by the green dice. Next, retrieve the second tennis ball from the ground and place it in the box. Aim at the cabinet to locate the red dice, pick them up, and place them into the storage box. Then, aim at the storage cabinet again to find the yellow dice, pick them up, and place them in the box. Finally, pick up the storage box lid and close the box securely.


pick up the red dice and place it into the storage box

The red dice has been placed into the storage box.

The red dice has been placed in the storage box, and the brown dice is currently being picked up.

pick up the brown dice and place it into the storage box

The robot has placed the red dice into the storage box and is currently holding the brown dice.

The robot has placed the red dice and the brown dice into the storage box.

The robot has placed the red, brown, and yellow dice into the storage box.

The robot has organized the red, brown, and yellow dice by placing them into the storage box.

The robot has organized the red, brown, and yellow dice along with the right tennis ball into the storage box.

The robot has organized red, brown, and yellow dice along with a tennis ball into the storage box.

The robot has organized multiple dice and a tennis ball by picking them up and placing them into the storage box.

pick up the tennis ball on the storage cabinet and place it into the storage box

The robot has organized multiple dice and a tennis ball into the storage box.

The robot has organized multiple dice and tennis balls by picking them up from various locations and placing them into the storage box.

Organize the scattered toys by first picking up the red dice and placing it into the storage box. Next, aim at the cabinet, pick up the brown dice, and place it into the storage box. Then, aim at the cabinet again, pick up the yellow dice, and place it into the storage box. Adjust the robot posture, pick up the right tennis ball, and place it into the storage box. Adjust the robot posture once more, pick up the tennis ball from the storage cabinet, and place it into the storage box. Finally, close the storage box with the lid.


pick up the tennis ball and place it into the storage box

This is the first subtask, and no subtasks have been completed yet.

The tennis ball has been placed into the storage box.

The robot has placed the tennis ball into the storage box.

The robot has placed the tennis ball into the storage box and adjusted its posture.

The robot has placed the tennis ball into the storage box and picked up the red dice.

The robot has placed the tennis ball into the storage box, adjusted its posture, and picked up the red dice while aiming at the storage box.

The robot has placed the tennis ball and red dice into the storage box.

The robot has placed the tennis ball and red die into the storage box.

The robot has organized the tennis ball and red dice into the storage box and is currently holding the brown dice.

place the brown die into the storage box

The robot has organized the tennis ball and red dice into the storage box and is currently aiming to place the brown dice.

The robot has organized the tennis ball, red dice, and brown dice into the storage box.

Organize the toys by first picking up the tennis ball and placing it into the storage box, then adjusting the robot posture. Next, pick up the red dice, aim at the storage box, and place the red die inside. Adjust the robot posture again, pick up the brown dice, aim at the storage box, and place the brown die inside. Finally, close the storage box to complete the organization.


pour the water from the kettle into the cup on the right side of the table

The robot has picked up the kettle from the table.

The robot has picked up the kettle and poured water into the cup on the right side of the table.

pick up the cup on the left side of the table and place it next to the kettle

The robot picked up the kettle, poured water into the cup, and placed the kettle back on its base.

The robot picked up the kettle, poured water into a cup, returned the kettle to its base, and moved another cup next to the kettle.

pour the water from the kettle into the cup on the left side of the table

The robot picked up the kettle, poured water into a cup, returned the kettle to its base, moved a cup next to the kettle, and picked up the kettle again.

The robot picked up the kettle, poured water into the cup on the right, placed the kettle on its base, moved the cup to the left of the kettle, picked up the kettle again, and poured water into the cup on the left side of the table.

pick up the water cup on the left side of the table

The robot picked up the kettle, poured water into the cup on the right, returned the kettle to the base, moved the left cup next to the kettle, picked up the kettle again, poured water into the left cup, and placed the kettle back on the base.

pour the water from the cup into the sink

The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, and finally picked up the water cup from the left side.

place the cup on the left side of the table

The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, and finally poured the water from the cup into the sink.

pick up the water cup on the right side of the table

The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, poured water from the left cup into the sink, and placed the cup back on the left side of the table.

The robot picked up the kettle, poured water into cups on both sides of the table, returned the kettle to its base, moved a cup next to the kettle, poured water from the left cup into the sink, and finally picked up the cup on the right side of the table.

place the cup on the right side of the table

The robot picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on its base, and emptied both cups into the sink before returning them to the table.

Pick up the kettle from the table and pour water into the cup on the right side, then return the kettle to its base. Next, move the cup from the left side of the table to beside the kettle. Retrieve the kettle again to fill the cup now on the left side, and place the kettle back on the base. Finally, empty the water from both cups into the sink and return each cup to its original position on the left and right sides of the table.


This is the first subtask, and no subtasks have been completed yet.

pour the water from the kettle into the cup on the table

pour the water from the kettle into the cup on the lower side of the table

The robot has picked up the kettle and poured water into the cup.

place the kettle on the base on the right side of the table

The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table.

The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

pour the water from the cup into the plastic box on the left

The robot picked up the kettle, poured water into the cup on the table and under the table, placed the kettle on its base, and picked up the water cup.

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup under the table, and poured the water into a plastic box on the left.

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup under the table, poured its contents into a plastic box, and returned the cup under the table.

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup under the table into a plastic box, and finally picked up a water cup on the table.

The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left.

Pick up the kettle from the table and pour water into the cup on the table, then pour more water into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Retrieve the water cup from under the table and pour its contents into the plastic box on the left, then return the cup under the table. Finally, pick up the water cup from the table and pour its contents into the plastic box on the left before placing the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

place the kettle onto the base on the right side of the table

The robot moved to the table, picked up the kettle, and poured water into two cups on the table.

The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base.

pick up the water cup on the lower side of the table

pour the water from the cup into the plastic box

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, picked up one of the cups, and poured the water from that cup into a plastic box.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up one cup, poured its contents into a plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up one cup to pour water into a plastic box, placed that cup under the table, and finally picked up the second cup.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, then picked up both cups to pour their contents into a plastic box.

Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour water from that same kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Move to the water cup, pick up the cup from the lower side of the table, and pour its contents into the plastic box. Place the cup under the table. Next, pick up the water cup from the table and pour its contents into the plastic box. Finally, place the cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

pour the water from the cup into the left plastic box

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a plastic box before placing the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup under the table, and picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the cup from the lower side, poured the water into a plastic box, and placed the cup under the table.

pour the water cup into the left plastic box

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the lower cup, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, and poured their contents into plastic boxes.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup under the table, and picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left. Return the cup to its position under the table. Finally, pick up the water cup on the table, pour its contents into the plastic box on the left, and place the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a left plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into the left plastic box, placed the cup under the table, and picked up the water cup on the upper side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower and upper sides of the table, and poured water from both cups into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Next, move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the plastic box on the left, and place the cup back on the table.


The robot has picked up the kettle from the table.

The robot has picked up the kettle and poured water into the cup.

The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table.

The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, and placed the kettle back on its base.

The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and then picked up the water cup.

The robot picked up the kettle, poured water into cups on the table and a lower side, placed the kettle on its base, moved to the water cup, picked it up, and poured its contents into a left plastic box.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked it up, poured its contents into a left plastic box, and placed the cup back on the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a left plastic box, placed the cup back on the table, and finally picked up another water cup from the lower side of the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, and transferred water from both cups into the left plastic box.

Pick up the kettle from the table and pour water into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the table. Next, pick up the water cup from the lower side of the table, pour its contents into the left plastic box, and finally place the cup under the table.


This is the first subtask, and no subtasks have been completed yet.

pour the water from the right-hand cup into the left plastic box

The robot picked up the kettle, poured water into the cup on the table and under the table, placed the kettle on its base, and picked up the cup under the table.

place the cup on the lower side of the table

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a cup from under the table, and poured its contents into a plastic box.

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup into a plastic box, and placed the cup on the lower side of the table.

The robot picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, transferred water from a cup into a plastic box, and finally picked up a water cup from the table.

The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, transferred water from cups into a plastic box, and positioned the cups on the table and under the table.

Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, pick up the cup from under the table and pour its contents into the left plastic box. Place this cup on the lower side of the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table.


The robot picked up the kettle, poured water into the cup, and placed the kettle back on its base.

The robot picked up the kettle, poured water into a cup, and returned the kettle to its base.

The robot picked up the kettle, poured water into the cup on the table, placed the kettle on its base, and subsequently poured additional water into the cup on the lower side of the table.

The robot picked up the kettle, poured water into two different cups on the table, and returned the kettle to its base twice.

The robot picked up the kettle, poured water into two cups on the table, and returned the kettle to its base twice before moving toward a water cup.

The robot has picked up the kettle twice to pour water into two different cups on the table and returned the kettle to its base on the right side, and has moved to and picked up the water cup located on the lower side of the table.

The robot picked up the kettle, poured water into cups on the table and lower side, returned the kettle to its base, moved to the lower cup, picked it up, and poured the water into a plastic box.

The robot picked up the kettle, poured water into a cup, and returned the kettle to its base; subsequently, it transferred water from the cup into a plastic box and placed the empty cup under the table.

The robot picked up the kettle, poured water into cups on the table and lower side, returned the kettle to its base, moved to the lower cup, transferred its contents to a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot picked up the kettle twice to pour water into cups on the table and lower side of the table, placed the kettle on the base, moved to and picked up the water cups, poured water from the cups into plastic boxes, and placed one cup under the table.

Pick up the kettle from the table and pour water into the cup on the table, then place the kettle on its base to the right. Repeat this process to fill the cup located on the lower side of the table, returning the kettle to the base afterward. Move to the water cup on the lower side, pick it up, and pour its contents into the plastic box before placing the cup under the table. Next, pick up the water cup from the table and pour its contents into the left plastic box, finally placing the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a left plastic box, and returned the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into the left plastic box, placed the cup under the table, and picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the upper side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up cups from both locations, and poured their contents into plastic boxes on the left.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left before placing the cup back under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the left plastic box, and place the cup back on the table.


The robot has picked up the kettle from the table.

The robot picked up the kettle and poured water into the cup.

The robot picked up the kettle and poured water into two cups on the table.

The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and then moved to pick up a water cup from under the table.

The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, moved to a water cup under the table, picked it up, and poured its contents into a left plastic box.

The robot picked up the kettle, poured water into two cups, placed the kettle back on its base, moved to a water cup under the table, picked it up, poured its contents into a left plastic box, and placed the cup back under the table.

The robot picked up the kettle, poured water into two cups, placed the kettle back on its base, moved to and picked up a cup under the table, poured its contents into a left plastic box, placed the cup back under the table, and finally picked up a water cup on the table.

The robot picked up the kettle and poured water into cups on the table and under the table, placed the kettle on its base, moved to a water cup, picked up the cup under the table and poured water into a left plastic box, placed the cup under the table, picked up the water cup on the table, and poured water from it into a plastic box.

Pick up the kettle from the table and pour water into the cup located on the lower side of the table, then pour more water from the kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the plastic box, finally placing the cup back on the table.


The robot has picked up the kettle and poured water into the cup.

The robot picked up the kettle and poured water into the cup on the table and the cup on the lower side of the table.

The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and moved to the water cup.

The robot picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and then picked up the cup from the lower side of the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, and poured its contents into a left plastic box.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, poured its contents into a left plastic box, and finally placed the cup under the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up cups, and poured water from both cups into the left plastic box.

Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot has picked up the kettle from the table.

The robot picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot picked up the kettle, poured water into the cup on the table and the lower side of the table, and placed the kettle back on its base.

The robot picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and then picked up the cup from the lower side of the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up a water cup from the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to a cup, picked it up, and poured its contents into the left plastic box twice.

Pick up the kettle from the table and pour water into the cup on the table. Then, pour water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table.


place the water cup on the lower side of the table

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the lower cup, picked it up, poured its contents into a left plastic box, and returned the cup to the lower side of the table.

pour the water from the right cup into the left plastic box

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a plastic box, and finally picked up another water cup from the table.

The robot picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to and picked up a water cup, poured its contents into a left plastic box, and placed the cup back on the lower side of the table.

Pick up the kettle from the table and pour water into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Move to the water cup on the lower side, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour the remaining water from the right cup into the left plastic box, then place the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured the water into a plastic box on the left, and placed the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the cup under the table, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up cups from under and on the table, and poured water from them into plastic boxes on the left.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the plastic box on the left before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then pick up the water cup on the table again.


This is the first subtask, and no subtasks have been completed yet.

rotate the object left toward the water cup

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and rotated an object toward a water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, rotated an object toward a cup, and picked up the cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, rotated an object, picked up a cup from the lower side, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, transferred water from a cup to a plastic box, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up cups from the lower side and table, and poured water from both cups into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base to the right side of the table. Rotate the object left toward the water cup, pick up the cup from the lower side of the table, and pour its contents into the left plastic box. Place the cup under the table. Next, pick up the water cup from the table and pour its contents into the plastic box on the left. Finally, place the water cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and picked up the water cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, picked up a water cup from under the table, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up the water cup under the table, poured its contents into a left plastic box, and placed the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured its contents into a left plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on and under the table, placed the kettle on its base, and transferred water from cups into a plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower side and table, and poured their contents into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a plastic box, and placed the cup back on the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into a plastic box, placed the cup back, and finally picked up the water cup from the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into a plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the plastic box before placing the cup back down. Finally, pick up the water cup from the table and pour its remaining water into the plastic box, then place the cup back on the table.


The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the water cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a left plastic box, placed the cup back on the lower side, and finally picked up the water cup on the table.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour its contents into the left plastic box, then place the cup back on the table.


The robot moved to the table, picked up the kettle, and poured water into two cups on the table.

The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, picked up a water cup from under the table, and poured its contents into a plastic box.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a plastic box, and returned the cup under the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to the water cup, picked up a cup from under the table, poured its contents into a plastic box, placed the cup back under the table, and finally picked up the water cup on the top side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, and transferred water from cups into a plastic box on the left.

Move to the table and pick up the kettle. Pour water from the kettle into the cup located on the lower side of the table, then pour more water from the kettle into the cup on the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup, pick up the cup under the table, and pour its contents into the plastic box on the left before placing the cup back under the table. Then, pick up the water cup on the top side of the table, pour its contents into the plastic box on the left, and finally place the cup on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into the cup on the table and the lower side of the table, placed the kettle on its base, and rotated the object left toward the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, rotated an object toward a cup, and picked up the cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, poured water from a cup into a plastic box, placed a cup under the table, and picked up a water cup from the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, rotated an object, picked up cups from the lower side and table, and poured water from both cups into the plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Rotate the object left toward the water cup, pick up the cup from the lower side, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour the remaining water into the plastic box. Finally, place the water cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, and picked up the water cup under the desk.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, moved to the water cup, picked it up, and poured the water into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the desk, placed the kettle on its base, picked up a water cup under the desk, poured water into a left plastic box, and placed the cup back under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up a water cup under the desk, poured water into a plastic box, placed the cup under the table, and finally picked up a water cup on the upper side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and under the table, placed the kettle on its base, picked up cups from under the desk and the upper side of the table, and poured water from all cups into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Next, move to the water cup under the desk, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the upper side of the table, pour its contents into the left plastic box, and place the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from the lower side and table, and poured their contents into a plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour the remaining water into the plastic box. Finally, place the water cup back on the table.


The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured the water into the left plastic box, placed the cup back on the lower side, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, and poured water into two cups on the table.

The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle back on its base, and picked up the kettle again.

The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base multiple times.

The robot moved to the table, picked up the kettle, poured water into cups on the table, and placed the kettle back on its base before moving to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle back on its base, and finally picked up a water cup from under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle back on its base, picked up a water cup from under the table, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and into a left plastic box, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into cups on the table and a lower cup, placed the kettle on its base, picked up a water cup from under the table, poured its contents into a left plastic box, and finally picked up a water cup from the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table, placed the kettle on its base, picked up a water cup from under the table, and poured water from both cups into the left plastic box.

Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table. Then, pour water from the kettle into the cup on the table, place the kettle onto the base on the right side of the table, and repeat the pouring action into the same cup. Next, move to the water cup, pick up the cup under the table, and pour its contents into the left plastic box before placing the cup back under the table. Finally, pick up the water cup on the table and pour its contents into the left plastic box, then place the cup on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured its contents into a plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the lower cup, poured its contents into a plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water from the right cup into the left plastic box, placed the cup under the table, and picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, and poured their contents into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the left plastic box before placing the cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured its contents into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box. Place this cup under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box. Finally, place the cup back on the table.


The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup back on the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured the water into the left plastic box, placed the cup back on the lower side, and picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into the left plastic box.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle on its base on the right side of the table. Move to the water cup on the lower side of the table, pick it up, and pour its contents into the left plastic box before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour the remaining water into the plastic box on the left, then place the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured its contents into a plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cup from the lower side, poured its contents into a plastic box, and placed the cup back on the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, transferred its contents to a plastic box, placed the cup back, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into the plastic box on the left.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then pour additional water from the kettle into the cup located on the lower side of the table. Place the kettle onto its base on the right side of the table. Move to the lower cup, pick it up, and pour its contents into the plastic box on the left before placing the cup back on the lower side of the table. Finally, pick up the water cup from the table and pour its contents into the plastic box on the left, then place the cup back on the table.


This is the first subtask, and no subtasks have been completed yet.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, and poured its contents into the left plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured its contents into a left plastic box, and placed the cup under the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured it into a plastic box, placed the cup under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from both locations, and poured their contents into the left plastic box.


The robot moved to the table, picked up the kettle, and poured water into two cups on the table.

The robot moved to the table, picked up the kettle, poured water into two cups, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up a water cup from under the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a cup from under the table, and poured its contents into a left plastic box.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up a cup from under the table, poured its contents into a plastic box, and returned the cup under the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, moved to a cup under the table, picked it up, poured water into a plastic box, placed the cup back under the table, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into two cups, placed the kettle on its base, picked up both cups, and poured the water from each cup into the left plastic box.

Move to the table, pick up the kettle, and pour water into the cup on the lower side of the table, then pour more water into the cup on the table. Place the kettle on its base on the right side of the table. Move to the cup under the table, pick it up, and pour its contents into the left plastic box before placing the cup back under the table. Next, pick up the water cup on the table and pour its contents into the left plastic box, finally placing the cup back on the table.


The robot has moved to the table and picked up the kettle.

The robot moved to the table, picked up the kettle, and poured water into the cup.

The robot moved to the table, picked up the kettle, and poured water into the cup on the table and the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, and placed the kettle back on its base.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle on its base, and moved to the water cup.

The robot moved to the table, picked up the kettle, poured water into two cups on the table, placed the kettle back on its base, and picked up the water cup from the lower side of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up a cup from the lower side, and poured the water into a plastic box.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up the water cup from the lower side, poured the water into a plastic box, and placed the cup back on the lower side of the table.

pour the water from the cup into the plastic box on the left side of the table

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, moved to the water cup, picked up the cup from the lower side, poured water into a plastic box, placed the cup back, and finally picked up the water cup on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and its lower side, placed the kettle on its base, picked up the cups, and poured the water from both cups into plastic boxes on the left and lower sides of the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up both cups, poured their contents into plastic boxes on the left and lower sides, and placed the cups back on the table.

The robot moved to the table, picked up the kettle, poured water into cups on the table and lower side, placed the kettle on its base, picked up cups from various locations, and poured water from them into plastic boxes on the left and right sides of the table.

Move to the table and pick up the kettle. Pour water from the kettle into the cup on the table, then into the cup on the lower side of the table. Place the kettle on its base to the right side of the table. Next, move to the water cup on the lower side of the table, pick it up, and pour its contents into the plastic box. Return the cup to the lower side of the table. Then, pick up the water cup on the table, pour its contents into the plastic box on the left side of the table, and place the cup back on the table. Finally, pick up the water cup under the table, pour its contents into the plastic box, place the cup back, and adjust the robot posture.


This is the first subtask, and no subtasks have been completed yet.

The robot has aimed at the table surface and picked up the kettle.

The robot aimed at the table surface, picked up the kettle, and poured water into the cup on the table.

The robot aimed at the table surface, picked up the kettle, and poured water into cups located on and below the table.

The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, and placed the kettle back on its base.

The robot aimed at the table surface, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and moved to the water cup.

The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, and picked up the water cup under the table.

The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, and poured the water into a plastic box on the left side of the table.

The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup under the table, picked it up, poured the water into a plastic box on the left side of the table, and placed the cup back under the table.

The robot aimed at the table, picked up the kettle, poured water into cups on and below the table, placed the kettle on its base, moved to the water cup, picked up the cup under the table, poured its contents into a plastic box on the left, placed the cup back under the table, and finally picked up the water cup on the table.

The robot has successfully poured water from the kettle into cups on and under the table, emptied both cups into a plastic box, and returned the kettle to its base.

The robot picked up the kettle to pour water into cups on and under the table, then emptied both cups into a plastic box on the left side of the table before placing the final cup back on the table.

Aim at the table surface, pick up the kettle, and pour water into the cup on the table. Then, pour water into the cup below the table. Place the kettle on its base and move to the water cup. Pick up the water cup under the table and pour the water from it into the plastic box on the left side of the table. Place the water cup back under the table. Next, pick up the water cup on the table and pour the water from it into the plastic box on the left side of the table. Finally, place the cup on the table and adjust the robot posture.