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

The robot has adjusted its posture and picked up the kettle.

The robot adjusted its posture, picked up the kettle, and poured water into the cup on the right side of the table.

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

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

The robot adjusted its posture, picked up the kettle, poured water into cups on both the right and left sides of the table, and placed the kettle back on the base.

The robot adjusted its posture, picked up the kettle, poured water into cups on both the right and left sides of the table, and returned the kettle to the base.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both the right and left sides of the table, returned the kettle to the base, and closed a water cup.

The robot adjusted its posture, picked up the kettle, poured water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, and picked up the water cup on the left side of the table.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, picked up the left cup, and poured its contents into the plastic box on the left.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle back on the base, closed a water cup, picked up the left cup, poured its contents into a plastic box, and placed the cup back on the table.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed the right water cup, and poured the water from the left cup into a plastic box before picking up the right water cup.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed the right cup, and emptied the contents of both cups into the plastic box on the left side of the table.

The robot adjusted its posture, picked up the kettle twice to pour water into cups on both sides of the table, placed the kettle on the base, closed a water cup, and transferred water from both cups into a plastic box on the left side of the table.

Adjust your posture, then pick up the kettle and pour water into the cup on the right side of the table. Return the kettle to its base, pick it up again, and pour water into the cup on the left side of the table before placing the kettle back on the base. Close the water cup, then pick up the cup on the left side and pour its contents into the plastic box on the left side of the table. Place that cup back on the left side of the table. Next, pick up the water cup on the right side of the table and pour its contents into the same plastic box on the left side of the table. Finally, place the water cup back on the right side of the table and adjust your posture.


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

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

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

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

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

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

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

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

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

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

Move to the table, pick up the kettle, and pour water into the cup on the right side of the table, then pour water into the cup on the left side of the table. Place the kettle on the base on the right side of the table. Move to the water cup, pick up the water cup on the left side of the table, and pour the water from the cup into the plastic box. Place the water cup under the table. Pick up the water cup on the right side of the table, pour the water from the cup into the left plastic box, and place the water cup on the right side 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

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 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.

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

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.

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

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 on the left.

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 into the 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 cups from both locations, 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 lower cup, pick it up, and pour its contents into the plastic box on the left. 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.