Assemble a snack by microwaving popcorn, pouring wine into a red coffee mug from a wine bottle, and storing chocolate pudding in a white storage box using items from the coffee table and microwave.

open the microwave [microwave region: top side]

place the popcorn into the microwave [microwave region: top side]

pick up the wine bottle from coffee table

pour out the wine from the wine bottle into the red coffee mug

pick up the chocolate pudding from coffee table

place the chocolate pudding into the white storage box [white storage box region: top side]


Prepare a warm cream cheese dip by heating cream cheese in a glazed rim porcelain ramekin in the microwave and arranging cookies on a plate for dipping, using objects like the coffee table, utensil, and microwave for assembly.

Pick up the cream cheese from the coffee table

Place the cream cheese into the glazed rim porcelain ramekin on the coffee table

Place the cream cheese on the coffee table

Pick up glazed rim porcelain ramekin from the coffee table

Place the glazed rim porcelain ramekin into the microwave [Region: heating region]

Pick up the cookies from the coffee table

Place the cookies onto the plate on the coffee table


Organize dining items by relocating a wine bottle, porcelain mug, and salad dressing to their designated storage places, and prepare sauce by pouring out tomato sauce and setting it aside.

Pick up the wine bottle from coffee table

Place down the wine bottle on wine rack at top region

Pick up the porcelain mug from coffee table

Place the porcelain mug on bowl drainer at left region

Pick up the tomato sauce from coffee table

Pick up the new salad dressing from coffee table

Place the new salad dressing on white cabinet at top region


Create a routine to mix a beverage by using orange_juice from the short_fridge and wine from the coffee_table, pouring both into a porcelain_mug on the coffee_table.

Pick up orange juice from short fridge in the upper region.

Pour orange juice into the porcelain mug on the coffee table.

Place the orange juice on the coffee table

Pick up wine bottle from the coffee table.

Pour wine from wine bottle into the porcelain mug.

Place the wine bottle on the coffee table


Set up a meal by transferring the chefmate_8_frypan, white_bowl, macaroni_and_cheese, tomato_sauce, and wine_bottle from the coffee_table to the rack, combining the macaroni_and_cheese and tomato_sauce in the white_bowl.

Pick up the white bowl from coffee table

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese into the white bowl

Place the macaroni and cheese on the coffee table

Pour out the tomato sauce into the white bowl

Place the tomato sauce on the coffee table

Pick up the wine bottle from coffee table


The task involves using a robotic arm to simulate cooking by sequentially transferring macaroni_and_cheese, milk, and their mixed contents from a coffee_table to a white_bowl, then into a chefmate_8_frypan, and finally portioning the mixture into a glazed_rim_porcelain_ramekin for placement back on the coffee_table.

Pick up macaroni and cheese from coffee table

Pour macaroni and cheese into white bowl

Pick up glazed rim porcelain ramekin from coffee table

Place rim porcelain ramekin on the coffee table

Pour a portion of the mixture from frypan into glazed rim porcelain ramekin

Place glazed rim porcelain ramekin back on coffee table


Arrange breakfast items and cooking tools by storing cream_cheese in the white_cabinet, preparing the flat_stove, managing the wine_bottle on the coffee_table, and placing a red_coffee_mug near the flat_stove for a simple breakfast setup.

Pick up the cream cheese from the coffee table

Place down the cream cheese into the white cabinet at top region

Pick up the wine bottle from the coffee table

Place down the wine bottle on the coffee table

Pick up the red coffee mug from the coffee table

Place down the red coffee mug next to the flat stove at cook region


Organize serving tools and prepare a dessert by arranging a white bowl, chocolate pudding, and butter on a coffee table, combining them in the bowl, and placing the bowl on a chefmate frypan while accessing a white cabinet for additional setup steps.

Pick chocolate pudding from coffee table

Pour the chocolate pudding into a white bowl

Place the chocolate pudding on the coffee table


Mix salad dressing and ketchup into tableware by using a red coffee mug and plate, employing a sequence that includes retrieving items from a fridge and dining set group, pouring the ingredients, and placing them appropriately.

Place the tomato sauce on the coffee table

Place down plate into short fridge at upper region.

Pick up the new salad dressing from the coffee table

Pour out new salad dressing from new salad dressing into red coffee mug.

Place the new salad dressing on the coffee table

Pick up the red coffee cup from the coffee table

Place down red coffee mug onto dining set group.


The task involves preparing and organizing items by microwaving popcorn using the microwave, moving a chefmate frypan to a wooden tray, and storing a plate in a short cabinet.

Place the popcorn into the microwave heating region

Place the frypan onto the wooden tray contain region

Place the plate inside the short cabinet top region


The task involves organizing a snack and beverage setup by storing popcorn in a wooden cabinet, pouring wine from a wine bottle into a white bowl, and relocating a chefmate 8 frypan next to a bowl drainer.

Open the wooden cabinet in the middle region

Pick up the popcorn from the coffee table

Place down the popcorn into the wooden cabinet in the middle region

Pick up the wine bottle from the coffee table

Pour out wine from the wine bottle onto the white bowl

Place down the wine bottle onto the coffee table

Pick up the frypan from the coffee table

Place the frypan next to the bowl drainer in the left region


The task involves warming chocolate pudding in a microwave and transferring it into a white and yellow mug for serving.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding on the microwave's heating region.

Pick up the warmed chocolate pudding from the microwave's heating region.

Place the warmed chocolate pudding into the white yellow mug.

Place the warmed chocolate pudding on the coffee table.


The task involves preparing a creative sauce tasting setup by organizing various objects like a chefmate_8_frypan, plate, glazed_rim_porcelain_ramekin, and wine_bottle from a coffee_table, pouring ketchup, orange_juice, new_salad_dressing, and wine into them, and placing them appropriately for presentation.

Pick up the frypan from the coffee table.

Pick up the tomato sauce container from the coffee table.

Place the tomato sauce on the coffee table

Pick up the orange juice from the coffee table.

Pour out the orange juice onto the plate.

Place the orange juice on the coffee table.

Pick up the new salad dressing from the coffee table.

Pour out the new salad dressing into the glazed rim porcelain ramekin.

Place the new salad dressing on the coffee table

Pick up the wine bottle from the coffee table.

Pour out the wine from the wine bottle onto the plate.

Place the wine bottle on the coffee table.


Organize items from the coffee_table, including cookies, wine_bottle, chefmate_8_frypan, moka_pot, and akita_black_bowl, by storing them in a basket, rack, or wine_rack, and prepare the milk and bbq_sauce for appliance usage by pouring them into a porcelain_mug and chefmate_8_frypan, respectively.

Pick up the cookies from the coffee table

Place the cookies into the basket at contain region

Pick up the wine bottle from the coffee table

Place the wine bottle on the wine rack at top region

Pick up the frypan from the coffee table

Pick up the moka pot from the coffee table

Pick up the akita black bowl from the coffee table

Place the akita black bowl into the basket

Pick up the milk container from its current location

Pour the milk from the container into the porcelain mug

Pick up the bbq sauce container from its current location

Pour the bbq sauce from the container onto the frypan


Prepare a mixed savory snack bowl by combining melted butter from a frypan, popcorn, wine, and ketchup into an akita_black_bowl using objects including a short_fridge, coffee_table, wine_bottle, and chefmate_8_frypan.

Pour melted butter from frypan into akita black bowl

Pick up wine bottle from its resting place

Pour wine from wine bottle into akita black bowl

Place wine bottle back to its resting place

Pour ketchup from coffee table into akita black bowl


Relocate kitchen items by placing the red_coffee_mug and chocolate_pudding into the short_cabinet in middle_region, pouring orange_juice into the white_bowl, and moving the wine_bottle to the wine_rack in top_region.

Pick up the red coffee mug from the coffee table

Place the red coffee mug into the short cabinet in middle region

Pick up the orange juice from the coffee table

Pour the orange juice into the white bowl

Place the orange juice on the coffee table

Pick up the chocolate pudding from the coffee table

Place the chocolate pudding into the short cabinet in middle region

Pick up the wine bottle from the coffee table

Place the wine bottle on the wine rack in top region


Prepare a cooking experiment by mixing tomato sauce and wine in a Chefmate 8 frypan placed on a turned-on flat stove, using objects from the coffee table.

Place the frypan on the flat stove cook region

Pick up the tomato sauce from coffee table

Pour out the tomato sauce into the frypan

Pick up the wine bottle from coffee table

Pour out the wine bottle into the frypan


Organize a setup involving a microwave, a wooden tray, a wine bottle, a glazed rim porcelain ramekin, and BBQ sauce on a coffee table to mix and present different flavors.

Pick up the wine bottle from the coffee table.

Pour out the wine from the wine bottle onto the wooden tray [contain region].

Place the wine bottle on the coffee table.

Pick up the bbq sauce from the coffee table.

Pour out the bbq sauce into the glazed rim porcelain ramekin.

Place the bbq sauce on the coffee table.


The task involves rearranging kitchen items by moving butter, a bowl drainer, and a wine bottle between a wooden cabinet, coffee table, and specific locations, as well as operating the bowl drainer and pouring out the wine bottle.

Pick up the butter from wooden cabinet at top region

Place down the butter on the coffee table

Place the wine bottle back on the coffee table.


Assemble ingredients by transferring a plate with cream cheese and a white bowl containing milk, salad dressing, and wine to the assembly area, then activate the flat stove in the cooking region.

Pick up the cream cheese from coffee table

Place the cream cheese on the coffee table

Pick up the white bowl from coffee table

Place the white bowl on the assembly area

Pour the contents of the milk into the white bowl

Place the empty milk container back on coffee table

Pick up the new salad dressing from coffee table

Pour the contents of the new salad dressing into the white bowl

Place the new salad dressing container back on coffee table


The task involves using a robotic arm to organize a kitchen and prepare items by interacting with objects such as a microwave, alphabet soup, a frypan, butter, a storage box, a wine bottle, and a wine rack to complete specific actions.

Pour out the alphabet soup into the frypan

Place the alphabet soup on the coffee table

Place the butter into the white storage box at bottom side

Place the wine bottle onto the wine rack at top region


The task involves preparing a heated dish by using the white_cabinet to retrieve butter, combining it in a chefmate_8_frypan taken from the coffee_table, and finishing the process by heating the frypan in a microwave located in the top_side region.

Pick up the frypan from the coffee table.

Pick up the butter from the white cabinet in region top side.

Pour the butter into the Chefmate 8 - frypan.

Place the frypan into the microwave in region heating region.


The task involves organizing kitchen items—cream_cheese, wine_bottle, and plate—by transferring them from a coffee_table into designated storage spaces in a white_cabinet and short_cabinet, including pouring out the wine_bottle before storing it.

Pick up the cream cheese from coffee table

Place down the cream cheese into the white cabinet top side

Pick up the wine bottle from coffee table

Place down the wine bottle into the white cabinet top region

Place down the plate into the short cabinet middle region


Organize items on the coffee_table by transferring cookies to the white_storage_box, filling the red_coffee_mug with wine from the wine_bottle, and moving the chefmate_8_frypan onto the rack.

Pick up the cookies from the coffee table

Place down the cookies into the white storage box top side

Pick up the red coffee mug from the coffee table

Place down the red coffee mug on the coffee table

Pick up the wine bottle from the coffee table

Pour out the contents of the wine bottle into the red coffee mug

Place the wine bottle on the coffee table

Pick up the frypan from the coffee table


Organize cookies, macaroni_and_cheese, and a red_coffee_mug by transferring them between a coffee_table, white_cabinet, and microwave, while serving wine in the mug as part of a mini meal setup.

Place the cookies into white cabinet at top side

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese into the microwave at top side

Pour out the wine bottle into the red coffee mug


Assemble a mixed dish by combining macaroni and cheese with milk in a chefmate_8_frypan, pouring wine into a glazed_rim_porcelain_ramekin, then set aside the chefmate_8_frypan on a rack.

Pick up macaroni and cheese from coffee table

Pour out macaroni and cheese into frypan

Place the macaroni and cheese back on the coffee table.

Place the milk back on the coffee table.

Pour out wine from wine bottle into glazed rim porcelain ramekin

Place the wine bottle back on the coffee table.


The task involves arranging a beverage-serving setup by opening a white cabinet, organizing a wooden tray on a coffee table, positioning an Akita black bowl and a porcelain mug, pouring a beverage from a wine bottle into the mug, and placing the mug onto the bowl.

Pick up the akita black bowl from the coffee table

Place the akita black bowl onto the wooden tray at its contain region

Pour the beverage from the wine bottle into the porcelain mug

Place the wine bottle onto the coffee table

Pick up the porcelain mug from the coffee table

Place the porcelain mug onto the akita black bowl


The task involves using a robotic arm to interact with various objects, including a coffee_table, porcelain_mug, milk, flat_stove, moka_pot, akita_black_bowl, and popcorn, to sequentially manipulate, position, and perform actions such as pouring milk, turning on a stove, and filling a bowl with popcorn.

Pick the moka pot from the coffee table.

Place the moka pot onto the flat stove in cook region.

Place the popcorn into the akita black bowl.


Organize food and beverage items by preparing orange juice in a white-yellow mug to heat in the microwave, storing chocolate pudding in a white storage box, and placing a red coffee mug into a basket.

Pick up the orange juice from the coffee table.

Pour out the orange juice into the white yellow mug.

Place the orange juice on the coffee table

Pick up the white yellow mug from the coffee table.

Place the white yellow mug on the heating region of the microwave.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding in the bottom area of the white storage box.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug on the contain region of basket.


The task involves arranging a serving setup by placing cookies, a porcelain mug, and a moka pot onto a wooden tray, activating cooking tools by placing a frypan on a rack, and pouring the contents of a wine bottle onto a wooden shelf.

Place cookies onto wooden tray region: contain region

Place porcelain mug onto wooden tray region: contain region

Tilt wine bottle to pour out its contents onto wooden two layer shelf region: top region

Place the wine bottle on the coffee table

Place moka pot onto wooden tray region: contain region


A robotic arm utilizes a coffee_table, chocolate_pudding, akita_black_bowl, wine_bottle, red_coffee_mug, and flat_stove to execute a multi-step routine involving food preparation, beverage pouring, and stove activation.

Pick the chocolate pudding off the coffee table.

Release the chocolate pudding into the bowl.

Place the chocolate pudding on the coffee table

Pick the wine bottle off the coffee table.

Tilt the wine bottle to pour its contents into the red coffee mug.

Return the wine bottle to an upright Place after pouring.

Place the power button on the flat stove in cook region.


The task is to set up a mini cooking area by storing butter in the white cabinet's top region, pouring wine from a wine bottle into a porcelain mug, and turning on the flat stove for use.

Place down the butter into white cabinet top region

pick up the wine bottle from coffee table

pour out the wine bottle into the porcelain mug

Place down the wine bottle on coffee table


Prepare a mixed sauce by combining wine and ketchup in a white bowl, and set up a chefmate_8_frypan on the middle region of a white cabinet for cooking.

Pour out the contents of wine bottle into white bowl

Pour out the contents of ketchup into white bowl

Open the middle layer of the wooden cabinet.

Place frypan onto white cabinet at middle region


Organize kitchen items by storing butter in the white_cabinet, placing a wine_bottle onto the wine_rack, and transferring new_salad_dressing into a white_yellow_mug before placing it onto a plate.

Place butter into white cabinet at top side

Place wine bottle onto wine rack at top region

Pick up the new salad dressing from the coffee table

Pour out new salad dressing from coffee table into white yellow mug

Place the new salad dressing on the coffee table

Pick up white yellow mug from the coffee table


The task involves setting up a cooking workspace by organizing items like butter, a wine bottle, a frypan, and tomato sauce from a coffee table into appropriate locations, including pouring out their contents and preparing the frypan for use.

Place down butter into basket at contain region

Place down wine bottle onto coffee table

Place down tomato sauce onto coffee table


Simulate a food preparation and serving process by utilizing a microwave, chefmate_8_frypan, new_salad_dressing, wine_bottle, macaroni_and_cheese, and a coffee_table to prepare ingredients and place the dish in the dining_set_group.

Open the microwave door region: top side

Pick up new salad dressing from the coffee table

Place down new salad dressing on the coffee table

Pick up wine bottle from the coffee table

Pour out wine from wine bottle onto frypan

Place down wine bottle on the coffee table


Prepare a mixed snack bowl by using a white_bowl from the white_cabinet, cookies and milk from the coffee_table, and optionally involving the microwave at the heating_region.

Pick up the white bowl from the white cabinet at top side

Place down the white bowl on the counter

Pick up the cookies from the coffee table

Place down the cookies into the white bowl


The task involves rearranging items by moving the chefmate_8_frypan from the coffee_table to the wooden_two_layer_shelf top_side, pouring out the milk and wine_bottle after picking them up from the coffee_table, and placing them back, followed by relocating a plate from the coffee_table to the basket contain_region.

Place frypan on wooden two layer shelf top side


Combine ingredients from the short_fridge and coffee_table, including milk, macaroni_and_cheese, bbq_sauce, and wine, using a plate and chefmate_8_frypan to prepare a meal.

Pick up milk from short fridge upper region.

Pick up macaroni and cheese from coffee table.

Place the macaroni and cheese on the coffee table

Pour bbq sauce onto macaroni and cheese.

Place the wine bottle on the coffee table


Organize items from the coffee_table by placing the butter into the wooden_cabinet top_region and the chefmate_8_frypan into the white_storage_box top_side using opening, picking, and placing actions.

Open the wooden cabinet top region [wooden cabinet region: top region]

Place the butter into the wooden cabinet top region [wooden cabinet region: top region]

Place the frypan into the white storage box top side [white storage box region: top side]


The task involves organizing snack components by transferring the akita_black_bowl and cream_cheese into the white_cabinet for storage, and repositioning a wine_bottle onto the microwave for later use.

Pick up the akita black bowl from coffee table

Place down the akita black bowl into the white cabinet middle region

Pick up the cream cheese from coffee table

Place down the cream cheese into the akita black bowl

Place the cream cheese on the coffee table

Pick up the wine bottle from coffee table

Place down the wine bottle onto the microwave top side


Organize snack ingredients by transferring cream_cheese to the short_fridge upper_region, wine_bottle to the wine_rack top_region, and popcorn into the white_bowl from the coffee_table.

Place the cream cheese into the short fridge upper region

Place the wine bottle into the wine rack top region


The task is to prepare a sauce by retrieving and transferring objects including a white_bowl, chefmate_8_frypan, and ketchup from a white_cabinet and coffee_table to the flat_stove, then heating the ketchup poured into the frypan on the stove.

Open the top region section of white cabinet

Pick up the white bowl from white cabinet top region section

Place the white bowl on the coffee table

Place the frypan on the flat stove cook region section

Turn on the flat stove cook region section

Pick up the ketchup from the coffee table


Arrange a snack serving setup by placing a wooden tray with cookies in a black bowl and a mug of poured-out orange juice in the serving area.

Place the akita black bowl on the wooden tray

Place the cookies into the akita black bowl

Pick up orange juice from the coffee table

Pick up the red coffee cup from coffee table

Place the red coffee cup on the wooden floor


Rearrange and organize objects by transferring liquid from a wine_bottle into a red_coffee_mug and relocating the red_coffee_mug, chocolate_pudding, and glazed_rim_porcelain_ramekin to designated storage areas (wooden_shelf, white_storage_box, and rack) from the coffee_table.

Pick up the wine bottle from the coffee table.

Pour out the liquid from the wine bottle into the red coffee mug.

Place the wine bottle on the coffee table.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug on the wooden shelf top region.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding into the white storage box left side.

Pick up the glazed rim porcelain ramekin from the coffee table.

Place the glazed rim porcelain ramekin on the rack.


Prepare a wooden tray with cookies and milk by transferring cookies from the coffee table onto the tray, pouring milk into a red coffee mug, and placing all items on the tray for serving.

Place cookies on wooden tray with contain region

Pour out milk from milk into red coffee mug


The task involves using a robotic arm to manipulate various kitchen objects, including cream_cheese, white_bowl, porcelain_mug, and wine_bottle, by locating, moving, grasping, and placing them on designated targets (e.g., coffee_table, white_storage_box, wooden_two_layer_shelf) or performing specific actions (e.g., activating a flat_stove control, pouring wine into a mug) to organize and interact with the environment.

Release cream cheese into the white storage box with top side

Release white bowl onto the wooden two layer shelf with top side

Turn on the flat stove control to turn it on in cook region

Tilt the wine bottle to pour its contents into the porcelain mug

Return the wine bottle to a neutral upright Place after pouring


Prepare a snack platter by transferring a plate, popcorn, butter, and cream cheese from the coffee table to a table, and arranging the popcorn, butter, and cream cheese on the plate.

Pick up the cream cheese from coffee table


Prepare a tomato macaroni dish by combining macaroni, cheese, and tomato sauce in a chefmate_8_frypan, transferring the mixture to a plate, and tidying up the chefmate_8_frypan by returning it to the coffee_table.

Pick up macaroni and cheese from coffee table

Place macaroni and cheese on coffee table


Prepare a seasoned popcorn snack by combining popcorn and BBQ sauce on a plate, then heating it in the microwave.

Pour out bbq sauce onto plate with popcorn

Pick up plate with popcorn and bbq sauce from coffee table

Place down plate with popcorn and bbq sauce into microwave heating region


The task involves using a robotic arm to arrange a scene by sequentially moving, grasping, relocating, and placing objects (wooden_tray, alphabet_soup, basket, butter, porcelain_mug, wine_bottle, and chefmate_8_frypan) on a coffee_table or rack, as well as pouring wine into a porcelain_mug, to organize and complete the desired setup.

pick up the alphabet soup on coffee table and place into wooden tray

pick up the butter on coffee table and place into basket

pick up the wine bottle on coffee table and pour into porcelain mug

return the wine bottle upright on coffee table

pick up the frypan on coffee table and place on rack


Prepare a snack arrangement by combining chocolate pudding and macaroni and cheese on a plate, and pouring wine from a bottle onto a wooden tray for a beverage touch.

pick up the chocolate pudding from short fridge in upper region

Place down the chocolate pudding on the plate

pick up the wine bottle from coffee table

pour out the wine from the wine bottle onto the wooden tray in contain region

Place down the wine bottle on the wooden tray in contain region

pick up the macaroni and cheese from coffee table

Place down the macaroni and cheese on the plate


The task involves arranging a snack setup by opening the short_fridge, handling items like a wine_bottle, plate, popcorn, and chocolate_pudding from the coffee_table, pouring out the wine_bottle, and placing the popcorn and chocolate_pudding on the plate.

Pick up the wine bottle from coffee table

Pour out the contents of the wine bottle

Place down the wine bottle on coffee table

Pick up the chocolate pudding from coffee table


The task is to prepare a creamy mixture by gathering akita_black_bowl, cream_cheese, milk, tomato_sauce, and wine_bottle from an undefined coffee_table, and sequentially depositing their contents into akita_black_bowl.

pick up the akita black bowl and place on coffee table

pick up the cream cheese and deposit into akita black bowl

pick up the milk and pour into akita black bowl

pick up the tomato sauce and pour into akita black bowl

pick up the wine bottle and pour into akita black bowl


Prepare a heated macaroni and cheese meal using a microwave and mix salad dressing in a frypan on a coffee table.

Pick up macaroni and cheese from wooden cabinet at top side

Place macaroni and cheese in microwave at heating region

Pick up salad dressing from coffee table

Place the salad dressing on the coffee table


Arrange a snack serving setup by placing popcorn on a wooden tray for serving and storing a red coffee mug in a bowl drainer, while accessing storage areas like a white cabinet and the bowl drainer.

Place down popcorn on wooden tray in contain region

Pick up red coffee mug from coffee table

Place down red coffee mug into bowl drainer in right region


Arrange cookies and pour wine onto a plate, using a white cabinet and coffee table, then place the decorated plate into a chefmate_8_frypan.

pick up cookies from white cabinet top region


Organize a snack setup by transferring a plate, macaroni_and_cheese, red_coffee_mug, bbq_sauce, and a wine_bottle from the coffee_table to the table, pouring out the bbq_sauce, and opening the microwave.

Pick up macaroni and cheese from coffee table


Organize butter, milk, and a wine bottle by moving them from the coffee table to appropriate storage locations (wooden cabinet and short fridge) while using and adjusting appliances as needed.

Place down butter into wooden cabinet top side.

Place down milk into short fridge middle region.


The robotic arm uses the wooden cabinet, akita black bowl, serving counter, microwave, coffee table, popcorn, and orange juice container to prepare a snack by microwaving popcorn and serving a beverage by pouring orange juice.

Pick up the akita black bowl from the wooden cabinet top region

Place down the akita black bowl at the serving counter

Pick up the popcorn from the coffee table

Place down the popcorn into the microwave top side

Pick up the orange juice from the coffee table

Pour out the orange juice from its container

Place the orange juice on the coffee table


Heat macaroni and cheese by transferring it into a white bowl, placing the bowl in the microwave, and using the microwave's heating region.

Pick up the white bowl from coffee table

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese into the white bowl

Place the macaroni and cheese on the coffee table

Place the white bowl into the microwave at heating region


Organize items from the coffee_table by placing the wine_bottle in the white_storage_box, the chefmate_8_frypan on the wine_rack's top_region, and resolving a conflict for the placement of the red_coffee_mug due to the wine_rack's region limitation.

Pick up the wine bottle from the coffee table.

Place the wine bottle into white storage box at the bottom side.

Pick up the frypan from the coffee table.

Place the frypan on the wine rack at the top region.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug on the wine rack at the top region. [Note: wine rack only offers top region and it is already used for frypan, which violates the "don't place 2 object in the same region" rule.]


Organize kitchen items by moving cream_cheese into the short_fridge middle_region, placing a plate into the white_storage_box top_side, returning a chefmate_8_frypan to the coffee_table, and pouring out a wine_bottle.

Place down cream cheese into short fridge middle region

Place down plate into white storage box top side

Place the wine bottle on the coffee table


The task involves preparing a heated snack plate by assembling cream cheese and BBQ sauce on a plate taken from the coffee table, placing the plate into an active microwave for heating.

Pick up the cream cheese from the coffee table

Place the cream cheese back on the coffee table

Pick up the bbq sauce from the coffee table

Open the microwave to reveal its top side region

Place the plate with cream cheese and bbq sauce into the open microwave with heating region active


Prepare a snack-time serving setup by arranging milk, a wine bottle, and a porcelain mug from the short_fridge and coffee_table onto a wooden_tray placed on the table.

Pick up milk from short fridge in upper region

Place milk on wooden tray in contain region

Place wine bottle on wooden tray in contain region

Place porcelain mug on wooden tray in contain region


Heat up alphabet soup in a white bowl using the microwave and organize a plate from the coffee table into a white cabinet.

Pick up the white bowl from the coffee table

Place the white bowl into the microwave on top side

Pick up the alphabet soup from the coffee table

Pour the alphabet soup into the white bowl

Place the empty alphabet soup on the coffee table

Place the plate into the white cabinet on top side


Prepare popcorn with butter by collecting a white bowl from a wooden cabinet, combining butter and popcorn in the bowl, and heating it on a flat stove.

Pick up the white bowl from the wooden cabinet at top side.

Place the white bowl on the coffee table.

Pick up the butter from the coffee table.

Pick up the popcorn from the coffee table.

Pick up the white bowl from the coffee table.

Place the white bowl on the flat stove at cook region.


Create a sequence for organizing and preparing cooking-related items by interacting with the wooden_cabinet, chefmate_8_frypan, wooden_tray, microwave, coffee_table, red_coffee_mug, and wine_bottle, including actions like retrieving, placing, and pouring.

Pick up frypan from wooden cabinet top region.

Place frypan onto wooden tray contain region.

Pour out the wine from wine bottle into red coffee mug.

Place the wine bottle on the coffee table


Prepare a mixed snack bowl by combining cream cheese from the wooden cabinet and chocolate pudding from the coffee table in a white bowl, and retrieve a red coffee mug from the short cabinet.

Pick up cream cheese from wooden cabinet at top side

Place the cream cheese on the coffee table

Pick up chocolate pudding from coffee table

Place the chocolate pudding on the coffee table

Pick up red coffee mug from short cabinet at middle region


The task involves preparing a culinary setup by arranging a chefmate_8_frypan, milk, akita_black_bowl, wine_bottle, and a poured-out bbq_sauce on a counter after retrieving them from a wooden_cabinet, short_fridge, and coffee_table.

pick up the frypan from wooden cabinet in top side

pick up the milk from short fridge in upper region

pick up the Barbecue sauce from coffee table


The task involves preparing a snack setup by sequentially manipulating objects (white_bowl, popcorn, wine_bottle, cream_cheese) on a coffee_table to transfer items or pour liquids into appropriate containers and activating a flat_stove in the cook_region for further use.

Pour liquid from wine bottle onto coffee table

Place the wine bottle back on the coffee table.

Release cream cheese into glazed rim porcelain ramekin


Prepare a snack by heating a red coffee mug in the microwave and assembling chocolate pudding and cream cheese onto a plate from the coffee table.

Pick up the red coffee mug from coffee table

Place the red coffee mug into the microwave [region: heating region]

Pick up the chocolate pudding from coffee table

Place the chocolate pudding onto the plate


Organize items on the coffee_table by placing cookies into a white_storage_box, a chefmate_8_frypan onto a wooden_tray, and a porcelain_mug onto a bowl_drainer.

Place cookies in white storage box where it is at top side

Place frypan on wooden tray where it is at contain region

Place porcelain mug on bowl drainer where it is at left region


Prepare a dessert plate by assembling chocolate pudding, butter, and milk on a plate sourced from a wooden cabinet and placed on a table.

Pick up plate from wooden cabinet at top side

Pick up chocolate pudding from coffee table


The task is to prepare a cooking setup by interacting with a wooden cabinet, a coffee table, a white bowl, butter, a microwave, and tomato sauce to organize ingredients and position them for heating.

Pick up the white bowl from coffee table

Place down the white bowl into microwave at heating region

Pick up the ketchup from the coffee table.

Pour out the tomato sauce onto coffee table


Organize a culinary scene by relocating items, including chocolate pudding, mugs, a frypan, and a wine bottle between a wooden cabinet, coffee table, and microwave.

pick up the chocolate pudding from wooden cabinet top side

Place down the chocolate pudding on coffee table

pour out the wine bottle from coffee table

Place the wine bottle on the coffee table


Prepare a mixed beverage by combining wine and orange juice in a porcelain mug and organize the moka pot by transferring it from the wooden cabinet to the coffee table.

Pour out orange juice into porcelain mug

Pick up moka pot from wooden cabinet top region


The task involves preparing a cooking scene by using a wooden cabinet, chefmate frypan, flat stove, tomato sauce, coffee table, red coffee mug, and wine bottle to heat tomato sauce in a frypan and pour wine into a mug for beverage preparation.

Pick up the frypan from the wooden cabinet on its top region

Place the frypan on the flat stove at cook region

Turn on the flat stove at its cook region

Pick up the tomato sauce from the coffee table

Place the tomato sauce back on the coffee table

Pick up the wine bottle from the coffee table

Pour the wine from the wine bottle into the red coffee mug

Place the wine bottle back on the coffee table


Set up a mini snack and beverage station by pouring wine from a wine_bottle into a white_yellow_mug on a coffee_table and storing cookies in a white_storage_box after retrieving them from the coffee_table.

Pour wine from wine bottle into white yellow mug on coffee table

Place down cookies into white storage box


Prepare a snack setup by arranging cookies on a plate with milk poured onto it and orange juice poured into a white-yellow mug, using objects from the coffee table, counter, and short fridge.

Pick up the milk from the short fridge in upper region

Pour milk from the milk container onto the plate

Pick up the orange juice from the coffee table

Pour orange juice from the orange juice container into the white yellow mug

Place the orange juice container on the counter

Pick up the cookies from the coffee table


Prepare a beverage-infused setting by using a white cabinet, a porcelain mug, a coffee table, a wine bottle, a microwave, and a red coffee mug to serve wine in a mug and place another mug in the microwave for heating.

Pick up the porcelain mug from white cabinet in top side.

Place down the porcelain mug onto the coffee table.

Pick up the wine bottle from coffee table.

Pour out the wine from wine bottle into porcelain mug.

Place down the wine bottle onto the coffee table.

Pick up the red coffee mug from coffee table.

Place down the red coffee mug into the microwave in heating region.


Organize kitchen items by moving the butter, white bowl, chefmate 8" frypan, wine bottle, salad dressing, and moka pot from the coffee table to designated storage spaces like the wooden cabinet, wooden two-layer shelf, and rack, while also pouring contents as specified.

Pick up the butter from the coffee table.

Place the butter into the wooden cabinet [region: top side].

Pick up the white bowl from the coffee table.

Place the white bowl into the wooden cabinet [region: top region].

Pick up the frypan from the coffee table.

Place the frypan on the wooden two layer shelf [region: top side].

Pick up the wine bottle from the coffee table.

Pour out the beverage from the wine bottle onto the rack.

Pick up the salad dressing from the coffee table.

Pour the salad dressing onto the frypan.

Place the salad dressing near the frypan.

Pick up the moka pot from the coffee table.

Place the moka pot on the wooden two layer shelf [region: top region].


Organize items from the coffee_table by placing the chocolate_pudding into the short_cabinet middle_region and the white_yellow_mug onto the wooden_shelf top_side.

pick up the chocolate pudding from coffee table

Place down the chocolate pudding into short cabinet middle region

pick up the white yellow mug from coffee table

Place down the white yellow mug onto wooden shelf top side


Prepare dairy ingredients for cooking by retrieving milk, cream cheese, and butter from specified locations, placing them on the coffee table, and transferring cream cheese into a bowl and butter into a ramekin.

Pick up the milk from the short fridge in upper region.

Pick up the white bowl from the short cabinet in top region.

Place the white bowl on the coffee table.

Pick up the cream cheese from the coffee table.

Pour the cream cheese into the white bowl.

Place the cream cheese on the coffee table

Pick up the butter from the coffee table.

Place the butter into the glazed rim porcelain ramekin.


The task involves organizing and interacting with various kitchen items, including a white bowl, orange juice, wine bottle, moka pot, and frypan on a coffee table, while processing liquids into specific containers to set up an interactive arrangement.

Pick up the orange juice from coffee table

Pour out the orange juice onto the white bowl

Place the empty orange juice container on coffee table

Pick up the wine bottle from coffee table

Pour out the wine bottle onto the glazed rim porcelain ramekin

Place the empty wine bottle on coffee table


Organize tableware (porcelain_mug, white_bowl) and beverages (milk, wine) from the coffee_table by storing them in designated locations (wooden_cabinet, wooden_shelf), pouring milk into the white_bowl and wine into the porcelain_mug as instructed.

Open the wooden cabinet door at its middle region.

Pick up the porcelain mug from the coffee table.

Place the porcelain mug into the wooden cabinet at its middle region.

Pick up the white bowl from the coffee table.

Place the white bowl onto the wooden shelf at its top region.

Pour the milk from its container into the white bowl on the wooden shelf at its top region.

Place the milk container back on the coffee table.

Pick up the wine bottle from the coffee table.

Pour the contents of the wine bottle onto the porcelain mug in the wooden cabinet at its middle region.

Place the wine bottle back on the coffee table.


Set up a culinary demonstration by arranging a chefmate_8_frypan on a wooden_shelf, transferring butter and cookies into a glazed_rim_porcelain_ramekin, and pouring bbq_sauce from a coffee_table into a porcelain_mug.

Pick up the frypan from the coffee table

Place the frypan onto the wooden shelf on top side

Pick up the butter from the coffee table

Place the butter into the glazed rim porcelain ramekin

Pick up the cookies from the coffee table

Place the cookies next to the butter in the glazed rim porcelain ramekin

Pick up the bbq sauce from the coffee table

Pour out the bbq sauce from the coffee table into the porcelain mug


Prepare macaroni and cheese in a frypan using butter on the stovetop while placing a wine bottle on the side table for a beverage arrangement.

Pick up the butter from white cabinet top region

Pick up the macaroni and cheese from coffee table

Place down the macaroni and cheese into frypan

Pick up the wine bottle from coffee table

Place down the wine bottle onto side table for the beverage arrangement


Prepare a snack by heating cookies in the microwave and serve a simulated wine drink by pouring wine from a bottle into an Akita black bowl.

Open the microwave. [microwave region: top side]

Place down cookies inside the microwave. [microwave region: top side]

Place down the wine bottle on coffee table.


The task involves organizing by storing macaroni_and_cheese in the middle_region of a short_cabinet, serving wine from a wine_bottle into a glazed_rim_porcelain_ramekin, and arranging a porcelain_mug on the top_region of a wine_rack.

Open the middle region of short cabinet.

Pick up macaroni and cheese from coffee table.

Place macaroni and cheese into the middle region of short cabinet.

Pour wine from wine bottle into the glazed rim porcelain ramekin.

Pick up porcelain mug from coffee table.

Place porcelain mug on top region of wine rack.


The task involves transferring wine from a wine_bottle stored in the wooden_cabinet to another location, followed by storing a porcelain_mug from the coffee_table into a white_storage_box.

Pick up the wine bottle from wooden cabinet, wooden cabinet region: top side

Place down the wine bottle onto wooden cabinet, wooden cabinet region for wine bottle: top region

Pick up the porcelain mug from coffee table

Place down the porcelain mug into white storage box, white storage box region for porcelain mug: bottom side


The task is to warm cream cheese and tomato sauce mix by preparing the ingredients on a plate, transferring them from the coffee table, and heating the plate in the microwave.

Place down the cream cheese container on coffee table

Place down the tomato sauce container on coffee table

Pick up akita black bowl with tomato sauce from coffee table

Pour tomato sauce from akita black bowl onto plate

Place down akita black bowl on coffee table

Pick up plate with cream cheese and tomato sauce mix from coffee table

Place down plate into microwave at heating region


Prepare a snack serving setup by pouring wine from a wine bottle into a white-yellow mug and arranging cookies on a plate placed in a basket, using the coffee table as the staging area.

Pick up the wine bottle from the coffee table.

Pour out the contents of the wine bottle into the white yellow mug on the coffee table.

Place the wine bottle on the coffee table.

Pick up the cookies from the coffee table.

Pick up the plate from the coffee table.

Place the plate into the basket contain region.


Prepare a dish by placing cream_cheese into a white_bowl from a wooden_cabinet and heating a chefmate_8_frypan on a flat_stove.

Pick up the white bowl from wooden cabinet top region.

Pick up the cream cheese from coffee table.

Place the cream cheese into the white bowl.

Place the cream cheese on the coffee table

Place the frypan on flat stove cook region.


Set up a café-like scene by arranging various objects, including opening a white cabinet to retrieve and place a basket filled with chocolate pudding and butter on the countertop, pouring wine from a bottle into a porcelain mug, preparing popcorn in a bowl drainer, and setting a moka pot on a flat stove.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding into the basket. [basket: contain region]

Pick up the butter from the coffee table.

Place the butter into the basket. [basket: contain region]

Turn on the flat stove. [flat stove: cook region]

Pour out the contents of the wine bottle into the porcelain mug.

Pick up the popcorn from the coffee table.

Place the popcorn into the bowl drainer. [bowl drainer: left region]

Pick up the moka pot from the coffee table.

Place the moka pot on the flat stove. [flat stove: cook region]


Prepare a simple meal setup by organizing a plate with macaroni and cheese topped with wine, placing them on a wooden cabinet, and activating a flat stove for cooking.

Place the plate on wooden cabinet top region

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese on the plate

Pick up the wine bottle from coffee table


Prepare a mixed dressing plate by retrieving a plate from the wooden cabinet, placing it on the coffee table, and sequentially pouring tomato sauce, salad dressing, and milk onto the plate while returning their containers to the coffee table.

Pick up the plate from the wooden cabinet top region

Pick up the tomato sauce from the coffee table

Pour out the tomato sauce onto the plate

Place the tomato sauce container back on the coffee table

Pick up the new salad dressing from the coffee table

Pour out the new salad dressing onto the plate

Place the new salad dressing container back on the coffee table

Place the milk container back on the coffee table


Heat orange juice by pouring it into a white and yellow mug from a container on a coffee table, placing the mug into the microwave, and retrieving it after heating.

Pour orange juice into white yellow mug on coffee table

Place orange juice container on coffee table

Pick up white yellow mug from coffee table

Place white yellow mug into microwave at heating region

pick up white yellow mug from microwave at heating region


Organize kitchen items by interacting with a short_fridge, coffee_table, chefmate_8_frypan, bbq_sauce, porcelain_mug, and wine_bottle to prepare for cooking and beverage serving.

pour out bbq sauce from bbq sauce into frypan

pour out wine from wine bottle into porcelain mug


Fry butter in the chefmate_8_frypan and serve orange juice in the white_yellow_mug using items from the white_cabinet and coffee_table.

Pick up the butter from the white cabinet at top side

Pick up the orange juice from the coffee table

Pour the orange juice into the white yellow mug

Place down the orange juice on the coffee table


Prepare a wine beverage by pouring wine from a wine_bottle into a white_yellow_mug and arrange a meal by placing macaroni_and_cheese onto a plate, using items from a coffee_table and cabinets.

Pick up the wine bottle from coffee table

Pour wine from the wine bottle into the white yellow mug

Place down the wine bottle on coffee table

Pick up the macaroni and cheese from coffee table

Place down the macaroni and cheese on plate


The task involves setting up a serving area by transferring a chefmate_8_frypan, plate, akita_black_bowl, wine_bottle, and new_salad_dressing from the coffee_table to the serving_area, pouring the wine_bottle onto the plate, and pouring the new_salad_dressing into the akita_black_bowl while also opening the short_cabinet in the middle_region.

Open the short cabinet in middle region.

Pour out the wine bottle onto the plate.

Pick up new salad dressing from coffee table.

Pour out the new salad dressing into the akita black bowl.

Place new salad dressing on serving area.


Heat orange juice by pouring it into a red coffee mug, placing the mug in the microwave, and operating the microwave until the heating process is complete.

Pour orange juice into the red coffee mug

Pick up the red coffee mug from the coffee table

Place the red coffee mug into the microwave heating region

Pick up the red coffee mug from the microwave heating region


The task involves using a robotic arm with a gripper to prepare food by moving cookies from a coffee table to a plate, placing the plate with cookies into a microwave, and pouring salad dressing from a container onto the plate.

Pick plate with cookies from coffee table.

Open gripper to release plate with cookies inside microwave in top side region.

Pick new salad dressing from coffee table.

Tilt new salad dressing container to pour dressing onto plate.

Return container to upright Place once pouring is complete.


Organize items by moving the porcelain mug, macaroni and cheese, and chefmate frypan from the coffee table to the wooden cabinet and rack, while using the white bowl to hold BBQ sauce and returning it to the coffee table.

open the wooden cabinet at middle region

pick up the porcelain mug from the coffee table

Place down the porcelain mug into the wooden cabinet at top side

pour out the bbq sauce into the white bowl

pick up the macaroni and cheese from the coffee table

Place down the macaroni and cheese into the wooden cabinet at top region

pick up the frypan from the coffee table


Prepare a mixed snack bowl by combining popcorn, milk, and salad dressing into the akita_black_bowl at the working_area, and set aside the chefmate_8_frypan from the coffee_table.

Pick up the popcorn from the coffee table

Pour the popcorn into the akita black bowl at the working area

Pour the milk into the akita black bowl at the working area

Pick up the salad dressing from the coffee table

Pour the salad dressing into the akita black bowl at the working area

Place the salad dressing on the counter.

Pick up the frypan from the coffee table


Organize dining items (plate, white_bowl, cookies, and alphabet_soup) from the coffee_table onto designated regions of a wooden_two_layer_shelf to arrange them systematically.

Place the plate in the middle area of the wooden double layered shelf

Place the white owl on the tree and in the middle area of the wooden shelf

Place down cookies on wooden two layer shelf at bottom region

Place alphabet stoup on the top area of the wooden shelf


The task involves preparing a dish setup by organizing items such as a plate, akita_black_bowl, wooden_tray, and wine_bottle on the counter, while pouring bbq_sauce, orange_juice, and new_salad_dressing into their respective containers.

Pick up the bbq sauce from coffee table.

Place  the bbq sauce onto the wooden tray in contain region.

Pick up the orange juice from the counter.

Pour out the orange juice into the akita black bowl.

Pick up the new salad dressing from the counter.

Pour out the new salad dressing onto the plate.

Place the new salad dressing on the counter.


Serve cookies with butter on a plate, pour out wine from a wine bottle, and reposition the frypan onto a rack, using objects including wine_bottle, plate, cookies, butter, coffee_table, and chefmate_8_frypan.

Pick up the wine bottle from coffee table


Arrange a snack setup by placing cookies on a plate and a porcelain mug next to it, and organize kitchen items by relocating a chefmate_8_frypan to the kitchen counter, a wine bottle to the top of the wine rack, and interacting with storage spaces like a wooden cabinet and microwave to access items.

Pick up the cookies from the coffee table.

Open the wooden cabinet at its middle region.

Pick up the frypan from the wooden cabinet at its top side.

Place the frypan onto the kitchen counter.

Pick up the wine bottle from the coffee table.

Place the wine bottle onto the wine rack at its top region.

Pick up the porcelain mug from the coffee table.

Place the porcelain mug next to the plate.


The task involves preparing a heating and pouring operation by interacting with a wooden cabinet, microwave, coffee table, and various objects (alphabet soup, chefmate frypan, and wine bottle) to heat soup and pour wine onto the coffee table.

Pick up the alphabet soup from coffee table

Place down the alphabet soup into the microwave heating region

Pour out the wine from wine bottle onto the coffee table


Organize cream_cheese, cookies, and chocolate_pudding from the coffee_table into the white_cabinet, a plate, and a white_bowl respectively for proper storage and serving.

Close the top layer of the white cabinet.

Open the middle layer of the white cabinet.

Place down cream cheese into white cabinet middle region.

Pick up chocolate pudding from coffee table.

Place down chocolate pudding into white bowl.


Create a creative culinary scene by mixing new_salad_dressing with cookies in a white_bowl, melting butter in a chefmate_8_frypan placed on a flat_stove, and utilizing objects like the coffee_table, cook_region, and a flat_stove for facilitating the steps.

Pour out new salad dressing into white bowl.

Place frypan onto flat stove in cook region.


Prepare a sauce mixture by combining butter, cream cheese, and tomato sauce in the akita_black_bowl, then activate the flat_stove cooking station.

Place cream cheese into akita black bowl

Place down cream cheese onto the coffee table

Pour out tomato sauce into akita black bowl

Place down tomato sauce onto the coffee table


Prepare a beverage by transferring wine from a wine_bottle to a red_coffee_mug, warm a dish by placing a plate in the microwave, and organize a cream_cheese block by relocating it to a wooden_shelf.

Pour out the contents from wine bottle into red coffee mug.

Place wine bottle back onto coffee table.

Place the plate into the microwave heating region.

Place the cream cheese on the wooden shelf top region.


Organize a snack scene by placing popcorn from the coffee table into a basket and mix beverages by pouring milk into a red coffee mug and orange juice into a glazed rim porcelain ramekin.

Pick up red coffee mug from coffee table

Pour out orange juice into glazed rim porcelain ramekin


The task involves using a robotic arm to set up a kitchen scene by manipulating various objects, including a wooden cabinet, chefmate frypan, flat stove, bowl drainer, coffee table, red coffee mug, plate, and popcorn to complete actions like opening, picking up, placing, and turning on appliances.

Pick up the popcorn from the coffee table


Set up a light refreshment arrangement by preparing a white_yellow_mug with orange_juice, plating chocolate_pudding, and arranging a wine_bottle on a wooden_tray on the coffee_table.

Pick up the white yellow mug from the coffee table.

Pour out the orange juice into the white yellow mug.

Place down the white yellow mug onto the coffee table.

Pick up the chocolate pudding from the coffee table.

Place down the chocolate pudding onto the plate.

Pick up the wine bottle from the coffee table.

Place the wine bottle onto the wooden tray at contain region.


The task involves preparing for cooking by using a wooden cabinet to retrieve a red coffee mug, placing it in a microwave, handling a chefmate 8" frypan on a coffee table, and pouring tomato sauce onto the frypan.

Open the wooden cabinet [wooden cabinet: top side]

Open the microwave [microwave: top side]

Pick up the red coffee cup from the wooden cabinet.

Place down the red coffee mug into microwave [microwave: top side]

Pick up the tomato sauce from coffee table

Pour out the tomato sauce onto the frypan


Organize kitchen items by placing the chefmate_8_frypan onto the microwave, storing cream_cheese in a basket, placing the wine_bottle in a wine_rack, and pouring milk into a glazed_rim_porcelain_ramekin before returning the empty milk container to the coffee_table.

Place frypan onto microwave on top side.

Place cream cheese into basket on contain region.

Place wine bottle onto wine rack on top region.

Pour out milk into glazed rim porcelain ramekin.

Place the empty milk container onto coffee table.


Assemble a snack plate by placing cookies, popcorn, and the contents of a wine bottle from the coffee table onto a plate, after moving the plate to the assembly area.

Pick up the cookies from coffee table in region cookies

Place the cookies in region cookies onto the plate in region plate

Pick up the popcorn from coffee table in region popcorn

Place the popcorn in region popcorn onto the plate in region plate

Pick up the wine bottle from coffee table in region wine bottle

Pour out the contents of the wine bottle in region wine bottle onto the plate in region plate

Place the wine bottle back on the coffee table


Organize the butter and wine bottle by transferring the butter from the coffee_table into an akita_black_bowl and storing it in the short_cabinet, and then pouring out the wine_bottle and placing it onto the wooden_shelf.

Pick up the butter from the coffee table.

Place the butter into the akita black bowl.

Place the Akira Kuroda bowl in the upper area of the low cabinet

Pick up the wine bottle from the coffee table.

Place the wine bottle onto the wooden shelf at top side.


Organize stored items by transferring the chocolate_pudding from the wooden_cabinet to the wooden_two_layer_shelf, and pour out the liquid from the wine_bottle after picking it up from the coffee_table, before returning the wine_bottle to the coffee_table and picking up the moka_pot.

Open the wooden cabinet door at the top side region

Pick up the chocolate pudding from inside the wooden cabinet at its top region

Place the chocolate pudding onto the wooden two layer shelf at its top region

Pick up the wine bottle from the coffee table

Pour out the contents from the wine bottle

Place the wine bottle onto the coffee table

Pick up the moka pot from the coffee table


Combine bbq_sauce, new_salad_dressing, and ketchup into a glazed_rim_porcelain_ramekin, then place it inside the microwave for heating.

Pick up the glazed rim porcelain ramekin from coffee table

Place the glazed rim porcelain ramekin into the microwave region: heating region

Pour out the bbq sauce into the glazed rim porcelain ramekin

Place the barbecue sauce on the coffee table

Pick up the new salad dressing from coffee table

Pour out the new salad dressing into the glazed rim porcelain ramekin

Place the new salad dressing on the coffee table

Pour out the ketchup into the glazed rim porcelain ramekin


Simulate cooking by using a chefmate_8_frypan from a coffee_table, cream_cheese from a wooden_cabinet, and ketchup from a coffee_table, placed on and heated by a flat_stove.

Place the frypan on the flat stove cook region

Pick up the cream cheese from wooden cabinet top side


Assemble a serving setup by arranging a wooden tray from the coffee table with wine poured into it and popcorn placed on a plate within the tray.

Pick up the wine bottle from coffee table

Pour the liquid from the wine bottle onto the wooden tray contain region

Place the wine bottle back on coffee table

Place down the plate on the wooden tray contain region


The task involves using a robotic arm to organize kitchen and storage items by opening the white cabinet and microwave to relocate a red coffee mug, chefmate frypan, and wine bottle to designated surfaces, including pouring wine onto the wooden two-layer shelf top side.

Pull the white cabinet door open at white cabinet top side.

Place the microwave at microwave top side.

Pick the red coffee mug from the coffee table.

Place the red coffee mug onto the microwave top side at microwave top side.

Place the frypan onto the white cabinet top side at white cabinet top side.

Pick the wine bottle from the coffee table.

Pour wine from the wine bottle onto the wooden two layer shelf top side at wooden two layer shelf top side.

Return the wine bottle to an upright Place.


Prepare a snack plate by arranging cookies and chocolate pudding on a plate, and a beverage mug by pouring wine from a bottle into a porcelain mug.

Pick up chocolate pudding from coffee table


The task involves simulating a process of cooking using a chefmate_8_frypan and tomato_sauce placed on a wooden_shelf, along with preparing a beverage by pouring wine from a wine_bottle into a red_coffee_mug on a coffee_table.

Pick up the tomato sauce from the kitchen counter

Pour out the tomato sauce into the frypan

Place the tomato sauce on the kitchen counter

Pick up the wine bottle from the coffee table

Pour out the wine from the wine bottle into the red coffee mug

Place the wine bottle on the coffee table


Organize and redistribute items by moving a plate from the coffee_table to the top_region of the short_cabinet, a red_coffee_mug from the coffee_table to the left_region of the bowl_drainer, and pouring out the contents of a wine_bottle taken from the coffee_table.

Place the plate in the top region of short cabinet

Pick up the red coffee mug from coffee table

Place the red coffee mug in the left region of bowl drainer

Pick up the wine bottle from coffee table


Organize the kitchen by gathering ingredients (macaroni_and_cheese, tomato_sauce, and wine_bottle) from various locations, arranging them on the counter, and preparing utensils (white_bowl) for use.

Open the white cabinet [region: top side]

Pick up the macaroni and cheese from the white cabinet [region: top side]

Place the macaroni and cheese on the counter

Pick up the tomato sauce from the coffee table

Pour the tomato sauce into the white bowl

Place the tomato sauce empty container on the counter

Open the middle region of the short fridge [region: middle region]


The task involves preparing snacks by retrieving cream cheese from a wooden cabinet, along with popcorn, bbq sauce, a ramekin, a mug, and a frying pan from the coffee table, placing them on the counter, and pouring out the bbq sauce for use.

Pick up cream cheese from wooden cabinet at top side

Place empty bbq sauce container on counter


The task involves organizing a breakfast setup by arranging a plate with cream cheese from the coffee table into the top region of a white cabinet and pouring BBQ sauce onto the contain region of a wooden tray.

Pick up the cream cheese from the coffee table

Pick up the plate with cream cheese from the coffee table

Place the plate with cream cheese into the white cabinet top region

Pick up the bbq sauce from its container

Pour out the bbq sauce onto the wooden tray contain region


The task involves assembling a serving setup by arranging a plate, chefmate_8_frypan, glazed_rim_porcelain_ramekin, wine_bottle (used to pour contents onto the plate), bbq_sauce, and ketchup on a serving_setup, while interacting with a coffee_table and white_cabinet.

Place frypan beside plate on serving setup

Pick up glazed rim porcelain ramekin from coffee table

Place glazed rim porcelain ramekin onto frypan

Pour out wine bottle contents onto plate

Place bbq sauce beside frypan on serving setup

Place ketchup beside bbq sauce on serving setup


The task involves setting up a cooking scene by retrieving a chefmate_8_frypan from a white_cabinet and placing it on a turned-on flat_stove, pouring tomato_sauce from a coffee_table into a white_bowl, and moving chocolate_pudding from the coffee_table onto a plate.

Pick up the frypan from white cabinet at top side

Place the frypan onto the cook region of the flat stove

Pick up the tomato sauce from coffee table

Pour out the tomato sauce onto the white bowl

Place the tomato sauce on the coffee table

Pick up the chocolate pudding from coffee table

Place down the chocolate pudding onto the plate


Prepare a heated snack by placing cream cheese and butter on a plate, heating it in a microwave, and serve a beverage by pouring wine from a wine bottle into a porcelain mug.

Place the cream cheese on the coffee table

Place the plate into the microwave at heating region

Pour wine from the wine bottle into the porcelain mug


Organize kitchen items by storing chocolate_pudding in the white_cabinet, handling a wine_bottle by pouring its contents and returning it to the coffee_table, and positioning a red_coffee_mug next to the moka_pot.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding into the white cabinet with region top region.

Open the short fridge with region upper region.

Pick up the wine bottle from the coffee table.

Pour out the contents from the wine bottle.

Place the wine bottle on the coffee table.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug next to the moka pot.


The task involves preparing and serving a creatively deconstructed drink and salad arrangement by using objects such as a plate, ramekin, salad dressing, wine bottle, and frypan on a coffee table, along with accessing a cabinet.

Pick up new salad dressing from coffee table

Place new salad dressing on coffee table

Open white cabinet top region in top region

Pick up wine bottle from white cabinet in top side

Pour out wine bottle onto glazed rim porcelain ramekin

Place wine bottle on white cabinet in top side


Create a unique snack by combining popcorn and wine in an akita_black_bowl, using items from the white_cabinet and coffee_table.

Pick up the akita black bowl from white cabinet at top side

Place down the akita black bowl on coffee table

Place the popcorn into the akita black bowl

Pick up the wine bottle from coffee table

Pour wine from the wine bottle into the akita black bowl


The task involves preparing a wine and orange juice beverage and organizing serving items by using a porcelain mug, wine bottle, white bowl, orange juice container, and wooden tray, with placement and pouring actions involving the coffee table, serving area, and dining set area.

Pour out the wine from wine bottle into porcelain mug

Pick up the white bowl from coffee table

Pick up the orange juice from coffee table

Pour out the orange juice from its container into white bowl

Pick up the wooden tray from coffee table at contain region region

Place the wooden tray next to dining set group at contain region region


The task involves organizing a snack assembly by transferring a plate, cookies, tomato sauce, and a wine bottle between a coffee table and a white cabinet for preparation and storage purposes.

Pick up plate with cookies and tomato sauce from coffee table

Place down plate with cookies and tomato sauce into white cabinet top region


The task involves assembling a plate snack using a plate, butter, cookies, and salad dressing placed on a coffee_table and storing a wine_bottle into a wine_rack.

Move to the coffee table to pick up the cookies

Move to the coffee table to pick up the salad dressing

Tilt the container to pour salad dressing onto the plate

Return the salad dressing container to an upright Place

Place the salad dressing back on the  coffee table

Move to the coffee table to pick up the wine bottle

Place the wine bottle onto the wine rack top region


Using a robotic arm, rearrange various food items (cream_cheese, wine_bottle, macaroni_and_cheese) and tableware (porcelain_mug, akita_black_bowl, moka_pot) by grasping, moving, and placing them into their respective locations (basket, coffee_table, akita_black_bowl, and rack) while performing pouring and orientation actions as required.

Place cream cheese into basket contain region

Pour contents from wine bottle into porcelain mug

Pick macaroni and cheese from the coffee table

Pour the communication fee and cheese into Akira Kuroda's bowl

Place the macaroni and cheese on the coffee table


The task involves organizing ingredients (akita_black_bowl, chocolate_pudding, butter, tomato_sauce) and utensils (chefmate_8_frypan) by transferring them between a coffee_table and their respective preparation locations to facilitate meal preparation.

Pick chocolate pudding from coffee table

Place chocolate pudding into akita black bowl and release grip

Place butter into akita black bowl and release grip

Return tomato sauce to upright Place and release grip


The task involves using a robotic arm to interact with various objects—microwave, chefmate_8_frypan, plate, akita_black_bowl, wine_bottle, wine_rack, and basket—for the purposes of organizing and positioning them in specified locations within a scene.

open the microwave microwave region: top side

place the frypan on microwave heating region microwave region: heating region

pick up the wine bottle from coffee table

place the wine bottle on wine rack top region wine rack region: top region

pick up the basket from coffee table basket region: contain region

place the basket on microwave top side microwave region: top side


Arrange cookies in the akita_black_bowl, handle and reposition the red_coffee_mug and wine bottle on the coffee_table, pour wine, open the short_fridge, and place the chefmate_8_frypan on the white_storage_box for streamlined snack serving and cooking setup.

Place frypan on the top side of white storage box


The task involves using a robotic arm to organize a kitchen by moving cookies from the coffee_table to a plate, placing chocolate_pudding from the coffee_table into the middle_region of a short_fridge, and relocating a wine_bottle from the coffee_table to the top_side of a wooden_shelf.

Pick up chocolate pudding from coffee table

Place chocolate pudding into short fridge middle region

Place wine bottle on wooden shelf top side


Prepare alphabet_soup in a white_bowl for heating in the microwave and assemble a red_coffee_mug with milk on the coffee_table.

Pick up the alphabet soup from the coffee table

Place the alphabet soup into the white bowl on the coffee table

Place alphabet stoup on the coffee table

Pick up the white bowl (with soup) from the coffee table

Move the white bowl onto the top side of the microwave at top side

Pick up the red coffee mug from the coffee table

Place the red coffee mug at the designated assembly area on the coffee table

Pour out the milk from its container into the red coffee mug


The task involves simulating a cooking setup by moving and using objects (butter, white_yellow_mug, tomato_sauce, and alphabet_soup) between designated areas (coffee_table, flat_stove in cook_region, and bowl_drainer in left_region) to prepare ingredients and configure the cooking station.

Place butter on the flat stove in cook region.

Pick up tomato sauce from the coffee table.

Pour tomato sauce out into the white yellow mug.

Pick up alphabet soup from the coffee table.

Pour alphabet soup out into the bowl drainer in left region.

Place alphabet soup on the coffee table.


Set up a table by transferring butter from the coffee table to a white bowl and placing it onto a plate, pouring out orange juice, and opening the microwave’s top side.

Place the orange juice on the coffee table


Store the butter from the coffee_table in the wooden_cabinet and use the flat_stove to heat and pour the wine_bottle contents into the white_yellow_mug.

Pick up the butter from the coffee table

Place the butter into the wooden cabinet on top region

Pick up the wine bottle from the coffee table

Pour out the contents of the wine bottle into the white yellow mug


Prepare a mixed liquid composition by pouring salad dressing, milk, and wine into separate tableware (chefmate_8_frypan and akita_black_bowl) using items from storage and arranging them on the coffee_table.

Pick up the new salad dressing from coffee table

Pour out the new salad dressing into frypan

Place the new salad dressing onto coffee table

Pick up the wine bottle from coffee table

Pour out the wine bottle into akita black bowl


Set up a simulated kitchen scene by organizing objects (butter, chefmate_8_frypan, wine_bottle, tomato_sauce) from the coffee_table to specified locations (basket, wooden_two_layer_shelf, red_coffee_mug) for a cooking process.

Place butter into basket at contain region.

Place frypan on wooden two layer shelf at top side.

Pour the contents of wine bottle into red coffee mug.

Place tomato sauce on wooden two layer shelf at top region.


The task involves using a robotic arm to prepare a cooking scene by sequentially interacting with various objects—wooden cabinet, coffee table, frypan, flat stove, tomato sauce container, ramekin, wine bottle, and porcelain mug—for actions such as opening, grasping, lifting, placing, and pouring, to set up cooking ingredients and tools.

Pull the wooden cabinet top door open, wooden cabinet region: top region

Place the frypan onto the flat stove, flat stove region: cook region

Turn on the flat stove, flat stove region: cook region

Pick the tomato sauce container from the coffee table

Tilt the tomato sauce container to pour sauce into the frypan

Place the tomato sauce on the coffee table

Pick the wine bottle from the coffee table

Tilt the wine bottle to pour wine into the glazed rim porcelain ramekin

Pick the porcelain mug from the coffee table


The task is to assemble a snack bowl by using a glazed rim porcelain ramekin to hold bbq sauce, cookies, and popcorn collected from a coffee table.

Pour out the bbq sauce onto the glazed rim porcelain ramekin

Place the cookies into the glazed rim porcelain ramekin

Place the popcorn into the glazed rim porcelain ramekin


The task is to assemble a simple dish by placing cream cheese from a wooden cabinet onto a plate on a coffee table and heating a Chefmate 8 frypan on a flat stove.

Pick up cream cheese from wooden cabinet at top side.

Place frypan onto flat stove at cook region.


Organize items from the coffee_table by relocating chocolate_pudding into the white_storage_box, arranging porcelain_mug and wine_bottle on the coffee_table after pouring wine into the mug, and transferring tomato_sauce into a glazed_rim_porcelain_ramekin.

Pick up the chocolate pudding from the coffee table.

Place down the chocolate pudding into the white storage box on its top side.

Pick up the wine bottle from the coffee table.

Pour out the wine from the wine bottle into the porcelain mug on the coffee table.

Place down the wine bottle on the coffee table.

Pick up the tomato sauce from the coffee table.

Pour out the tomato sauce from its container into the glazed rim porcelain ramekin.

Place down the tomato sauce on the coffee table.


Arrange cream cheese, chocolate pudding, and tomato sauce creatively on a plate from the coffee table, then store the wine bottle in the middle region of the short fridge after retrieving it from the coffee table.

Pick up the cream cheese from white storage box on its top side.

Place the cream cheese onto the plate on coffee table.

Pick up the chocolate pudding from coffee table.

Place the chocolate pudding onto the plate on coffee table.

Pick up the ketchup from the coffee table.

Pour out the tomato sauce from coffee table onto the plate.

Open the short fridge from its upper region.

Pick up the wine bottle from coffee table.

Place the wine bottle inside the short fridge in its middle region.


Combine cookies and cream cheese in the akita_black_bowl, move the bowl to the top region of the wooden_two_layer_shelf, and open the right region of the bowl drainer.

Pick up the cookies from the coffee table

Place the cookies into the akita black bowl

Pick up the cream cheese from the coffee table

Place the cream cheese into the akita black bowl

Place the cream cheese on the coffee table

Pick up the akita black bowl from the coffee table

Place the akita black bowl onto the wooden two layer shelf top region


A robotic arm organizes objects by relocating cream_cheese to a short_cabinet, pouring wine from a wine_bottle into a red_coffee_mug, and storing alphabet_soup in a short_fridge, with all actions involving a coffee_table as the central workspace.

Open the top region of the short cabinet.

Pick up the cream cheese from the coffee table.

Place the cream cheese into the top region of the short cabinet.

Pick up the wine bottle from the coffee table.

Pour out the contents of the wine bottle into the red coffee mug.

Place the wine bottle onto the coffee table.

Pick up the alphabet soup from the coffee table.

Place the alphabet soup into the middle region of the short fridge.


Prepare a fancy beverage by retrieving a red coffee mug from the wooden cabinet, pouring wine into it from a wine bottle on the coffee table, and placing the filled mug on a plate at the serving area.

Open the wooden cabinet located at top side.

Pick up the red coffee mug from the wooden cabinet located at top side.

Place the red coffee mug on the coffee table.

Pour the wine from the wine bottle into the red coffee mug.

Place the wine bottle on the coffee table.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug onto the plate.


Set up a mini cooking scene by transferring tomato_sauce into a glazed_rim_porcelain_ramekin, pouring new_salad_dressing into a chefmate_8_frypan, organizing a plate from a wooden_cabinet onto the counter, and placing a wine_bottle onto a rack.

Pour out the tomato sauce into the glazed rim porcelain ramekin

Place the tomato sauce on the coffee table.

Pour out the new salad dressing into the frypan

Place the salad dressing on the coffee table.

Pick up the plate from the wooden cabinet top side


The task involves preparing a warm snack by retrieving a plate from a white cabinet, placing it on a coffee table, adding tomato sauce and cookies onto the plate, and heating the assembled snack in a microwave.

Pick up the plate from the white cabinet at top region

Pick up the tomato sauce from the coffee table

Place the tomato sauce on the coffee table

Pick up the cookies from the coffee table

Place the plate into the microwave at heating region


A robotic arm performs kitchen reorganization and preparation by interacting with objects including a white cabinet, coffee table, flat stove, bowl drainer, and dining set group to store butter, transfer popcorn, and activate the stove.

Place down butter into white cabinet top region


The task involves organizing tableware by placing butter into an akita_black_bowl and positioning it on a wooden shelf, turning on the flat_stove at the cook_region, and preparing milk in a white_yellow_mug to place on the dining_set_group for cooking setup.

Place akita black bowl on the wooden shelf at top side

Place white yellow mug on the dining set group


Arrange a serving setup by transferring macaroni and cheese into a white bowl and chocolate pudding onto a plate on the coffee table, then reposition a chefmate_8_frypan from the coffee table to a rack.

Pick the macaroni and cheese from the coffee table

Place the macaroni and cheese into the white bowl

Pick the chocolate pudding from the coffee table

Place the chocolate pudding onto the plate


Prepare a mixed bowl of butter, salad dressing, and wine in an akita_black_bowl placed on the counter, then store a separate white_bowl in a basket.

Place the butter into the akita black bowl

pick up the salad dressing from coffee table

pour the salad dressing into the akita black bowl

Place the salad dressing on the coffee table

pick up the wine bottle from coffee table

pour the wine bottle into the akita black bowl

Place the wine bottle on the coffee table

pick up the white bowl from coffee table

Place the white bowl in the basket at contain region


Prepare a snack and beverage setup by combining butter and popcorn in the akita_black_bowl, pouring wine from the wine_bottle into the red_coffee_mug, and arranging the mug on the wooden_two_layer_shelf.

Pick up the butter from the coffee table

Pick up the popcorn from the coffee table

Place the popcorn into the akita black bowl

Pick up the wine bottle from the coffee table

Pour the wine from the wine bottle into the red coffee mug

Place the wine bottle onto the coffee table

Pick up the red coffee mug from the coffee table

Place the red coffee mug onto the top side of the wooden two layer shelf


Prepare and heat popcorn in a white bowl using the microwave while arranging a red coffee mug on a wooden tray.

Pick up the white bowl from the coffee table

Place the white bowl back onto the coffee table

Place the popcorn into the white bowl on the coffee table

Pick up the white bowl (now containing popcorn) from the coffee table

Place the white bowl (with popcorn) into the microwave [region: heating region]

Place the red coffee mug onto the wooden tray [region: contain region]


Prepare a snack bowl by transferring popcorn and milk into a white bowl, set up a mini cooking scene by opening a cabinet, pouring wine, and turning on a stove, utilizing objects like popcorn, milk, wine bottle, white bowl, coffee table, white cabinet, and flat stove.

Place down wine bottle onto coffee table.


Organize a savory setup by storing macaroni_and_cheese and wine_bottle in the short_cabinet, then mixing bbq_sauce into a porcelain_mug on the coffee_table.

Open the short cabinet in the middle region

Pick up macaroni and cheese from coffee table

Place down macaroni and cheese into short cabinet in the middle region

Place down porcelain mug onto coffee table

Pour out bbq sauce from its container into the porcelain mug

Place down wine bottle into short cabinet in the top region


The task involves organizing kitchen items by storing cream cheese in the short fridge, placing butter on a wooden tray, and preparing a condiment bowl by pouring tomato sauce into a white bowl on the kitchen counter.

Place down cream cheese into short fridge in upper region

Place down white bowl on kitchen counter

Pour out tomato sauce into white bowl on kitchen counter

Place down tomato sauce container on coffee table

Place butter onto wooden tray in contain region


Arrange a serving tray display by transferring a wooden tray from the coffee table and placing items—an Akita black bowl, a white bowl, and a wine bottle—onto it.

Pick up wooden tray contain region from coffee table

Place wooden tray contain region on coffee table

Pick up akita black bowl from coffee table

Place akita black bowl on wooden tray contain region

Place white bowl on wooden tray contain region

Place wine bottle on wooden tray contain region


Organize kitchen items by moving popcorn to the wooden cabinet, placing a frypan on the rack, and preparing for a beverage pour action by handling a wine bottle and picking up a mug from the coffee table.

Place down popcorn into wooden cabinet top region.


Assemble a food preparation scene by arranging a wooden tray, akita black bowl, macaroni and cheese, and BBQ sauce from the coffee table, with the bowl placed on the tray, and the food items and sauce added into the bowl.

Pick up the akita black bowl from the coffee table

Place the akita black bowl onto the wooden tray at contain region

Pick up the macaroni and cheese from the coffee table

Place the macaroni and cheese into the akita black bowl

Place the macaroni and cheese on the coffee table

Pick up the bbq sauce from the coffee table

Pour the bbq sauce into the akita black bowl


Prepare two dishes, popcorn in a white bowl and macaroni and cheese on a plate, using items from the coffee table, and activate the flat stove in the cooking area.

Pick up macaroni and cheese from coffee table


Set up a mini cooking preparation scene by arranging and using objects like the akita_black_bowl, white_yellow_mug, tomato_sauce, wine_bottle, microwave, and coffee_table to mix liquids and prepare for heating.

Pick up the tomato sauce from coffee table

Pour out the tomato sauce into the akita black bowl

Place the tomato sauce back on coffee table

Pick up the wine bottle from coffee table

Pour out the wine from the wine bottle into the white yellow mug

Place the wine bottle back on coffee table


The task involves preparing a snack setup by arranging cookies in a white bowl and setting up a beverage scene by pouring wine from a bottle into a frypan, using objects like a short cabinet, coffee table, white bowl, cookies, chefmate frypan, and a wine bottle.

Pour out contents of wine bottle into frypan

Place the wine bottle on the coffee table

Place white bowl inside short cabinet in middle region


Prepare a savory mixture by combining cream cheese and BBQ sauce in the akita_black_bowl, then transferring the mixture into the chefmate_8_frypan for cooking.

Pick up akita black bowl from white cabinet at top side.

Place cream cheese into akita black bowl.

Place the cream cheese on the coffee table

Pick up the mixture from akita black bowl from coffee table.

Pour the mixture from akita black bowl into frypan.

Place the akita black bowl on the coffee table


Organize the staging area by placing cream_cheese on a wooden_tray and setting the red_coffee_mug inside an opened microwave.

Pick up the cream cheese from the coffee table.

Place the cream cheese on the wooden tray. [contain region]

Pick up the red coffee mug from the coffee table.

Place the red coffee mug into the opened microwave. [top side]


Set up for beverage preparation and cooking by arranging an akita_black_bowl and a white_yellow_mug with orange_juice on a coffee_table, and placing a chefmate_8_frypan on an activated flat_stove.

Pick up the akita black bowl from white cabinet at top region

Place down the akita black bowl on coffee table

Pick up the orange juice from coffee table

Pour orange juice from orange juice into white yellow mug

Place down the orange juice on coffee table

Place down the frypan on flat stove at cook region


Prepare a warm milk beverage by microwaving milk in a red coffee mug and ready a soup snack by transferring alphabet soup into an akita black bowl and placing it on a wooden shelf.

Pour the milk into the red coffee mug on the coffee table.

Pick up the red coffee mug now containing milk from coffee table.

Place the red coffee mug into the microwave on top side.

Pick up the alphabet soup from coffee table.

Place the alphabet soup into the akita black bowl.

Place the alphabet soup on the coffee table

Pick up the akita black bowl with alphabet soup from its location.

Place the akita black bowl with alphabet soup onto the wooden shelf on top side.


The task involves storing cookies in a short cabinet and preparing a mixed sauce in a white bowl by pouring tomato sauce and salad dressing into it, using objects including a short_cabinet, coffee_table, white_bowl, cookies, tomato_sauce, and salad_dressing.

pick up the cookies from the coffee table

Place the cookies into the short cabinet at top region

pick up the tomato sauce from the coffee table

pour out the tomato sauce into the white bowl

Place the tomato sauce down on the coffee table

pick up the salad dressing from the coffee table

pour out the salad dressing into the white bowl


Prepare a quick snack setup by heating popcorn in the microwave, transferring chocolate pudding into a bowl, pouring new salad dressing onto a shelf, and repositioning a wine bottle on the coffee table.

Place popcorn into the microwave at heating region

Pick up chocolate pudding from the coffee table

Place chocolate pudding into the akita black bowl

Pick up new salad dressing from the coffee table

Pour out new salad dressing onto the wooden two layer shelf at top side

Place the new salad dressing on the coffee table


The task involves preparing macaroni and cheese in the microwave, arranging utensils like a porcelain mug, frypan, and wine bottle on their respective surfaces, and handling additional items like orange juice and ketchup on the coffee table.

Open the microwave, microwave region: top side.

Pick up macaroni and cheese from coffee table.

Place macaroni and cheese into the microwave, microwave container region: heating region.

Pick up orange juice from the coffee table

Pour out orange juice into the porcelain mug.

Place the tomato sauce back on the  coffee table

Place frypan on the wooden tray, wooden tray region: contain region.

Place wine bottle on the wooden shelf, wooden shelf region: top side.


Set up a snack arrangement by retrieving items (chocolate pudding, butter, plate, and akita black bowl) from the coffee table, placing the chocolate pudding on the plate, butter in the bowl, and opening the short fridge's middle region and the bowl drainer's right region using the specified kitchen objects.

Pick up the chocolate pudding from the coffee table.

Place down the chocolate pudding on the plate.

Pick up the butter from the coffee table.

Place down the butter in the akita black bowl.


Prepare a flavored popcorn snack by transferring popcorn from the coffee table to a white bowl, adding tomato sauce, and storing the prepared snack in the top-side of a white cabinet.

Pick up the tomato sauce from coffee table

Pour out the tomato sauce over white bowl

Place down the tomato sauce onto coffee table

Pick up the white bowl from coffee table

Place down the white bowl into white cabinet at top side


The task involves organizing food items (cream_cheese, salad_dressing) and tableware (porcelain_mug) by storing cream_cheese in the short_fridge, pouring salad_dressing into the porcelain_mug, and placing the mug into a basket, while arranging objects like the coffee_table and table surfaces for temporary placement.

Pick up the cream cheese from the coffee table

Place the cream cheese into the short fridge in upper region

Pick up the salad dressing from the coffee table

Pour out the salad dressing into the stationary porcelain mug

Place the salad dressing back on the coffee table

Pick up the porcelain mug, now containing salad dressing, from the table surface

Place the porcelain mug into the basket in contain region


The task involves arranging a mini dining setup by moving items (chefmate_8_frypan, porcelain_mug, wine_bottle, bbq_sauce, and popcorn) from the coffee_table onto specific regions of a wooden_tray, with additional steps to open the white_cabinet and pour out the wine_bottle.

Place the frypan onto wooden tray contain region 1

Pick up the porcelain mug from coffee table

Place the porcelain mug onto wooden tray contain region 2

Pick up the wine bottle from coffee table

Place the wine bottle onto wooden tray contain region 3

Place the bbq sauce onto wooden tray contain region 4

Place the popcorn onto wooden tray contain region 5


Assemble a serving ensemble by arranging macaroni and cheese in a microwave for warming, cookies in a bowl on a plate, a frypan and moka pot beside a storage box, and pouring wine onto the plate for display.

Pick up the macaroni and cheese from the coffee table

Place the macaroni and cheese into the heating region of the microwave

Pick up the cookies from the coffee table

Place the plate on the top side of the white storage box

Pick up the white bowl (with cookies) from the coffee table

Pick up the frypan from the coffee table

Place the frypan beside the white storage box at its right side

Pick up the moka pot from the coffee table

Pick up the wine bottle from the coffee table

Pour out the content of the wine bottle onto the plate

Place the wine bottle back on the coffee table


Arrange cookies and tomato sauce on a plate, position the plate and a coffee mug onto a wooden tray, and transfer the tray to a wooden shelf for snack serving organization.

Pick the tomato sauce container from the coffee table

Tilt the tomato sauce container to pour sauce onto the plate

Place the tomato saucp on the coffee table

Release the plate onto the wooden tray at its contain region

Pick the red coffee mug off the coffee table

Release the red coffee mug onto the wooden tray at its contain region

Pick the wooden tray at its contain region from the coffee table

Release the wooden tray at its contain region onto the wooden shelf at its top side


Prepare a flat stove, chefmate_8_frypan, butter, and tomato_sauce for a quick stir-fry by sequentially transferring and arranging these ingredients from a coffee_table and akita_black_bowl to their respective cooking positions.

Place the frypan onto the flat stove in cook region

Pick up the butter from the coffee table

Pick up the tomato sauce from the coffee table

Pour the tomato sauce into the akita black bowl


Prepare a serving setup by arranging cream_cheese and butter on a plate and pouring bbq_sauce into a white_bowl.

Pick up the cream cheese from the coffee table

Place the cream cheese on the coffee table

Pour out the bbq sauce into the white bowl


Organize the popcorn, akita_black_bowl, and white_bowl from the coffee_table into the white_bowl, white_cabinet, and wine_rack, respectively, ensuring proper placement within the storage containers.

Pick up the akita black bowl from coffee table

Place the akita black bowl into the white cabinet at top region

Pick up the white bowl from coffee table

Place the white bowl into the wine rack at top region


Organize a coffee-making and snack setup by arranging a wooden tray, red coffee mug, plate, and moka pot on a coffee table, while preparing the flat stove for brewing in the designated regions.

Pick up the red coffee mug from coffee table

Place the red coffee mug on wooden tray in contain region

Place the moka pot on flat stove in cook region

Place the plate on wooden tray in contain region


Organize and prepare selected items from the coffee table by transferring chocolate pudding into a white bowl, tomato sauce into an akita black bowl, relocating a wine bottle to the wine rack, and placing the akita black bowl in the bowl drainer.

Pour out chocolate pudding into white bowl

Place the chocolate pudding on the coffee table

Pour out tomato sauce into akita black bowl

Place the tomato sauce on the coffee table

Place wine bottle on top region of wine rack

Place akita black bowl in left region of bowl drainer


Prepare a snack bowl by retrieving a white bowl from the white cabinet, placing it on the coffee table, and filling it with popcorn and tomato sauce.

Pick up the white bowl from white cabinet at top region

Place down the white bowl onto the coffee table

Place down the popcorn into the white bowl

Pick up the tomato sauce from coffee table

Pour out the tomato sauce into the white bowl


Prepare a saucy popcorn mixture with popcorn, cream cheese, and BBQ sauce in a white bowl, then heat it using a Chefmate 8 frypan on a flat stove.

Pick up cream cheese from the coffee table

Place the cream cheese on the coffee table

Pour bbq sauce onto the mixture in the white bowl.

Place the frypan on the flat stove cook region.


Organize food items (butter, bbq_sauce, cookies) and tableware (akita_black_bowl, chefmate_8_frypan) by arranging and transferring them between the white_cabinet, coffee_table, and microwave for a culinary setup.

Pick up the butter from the white cabinet [region: top side]

Place down the butter on the coffee table

Pick up the bbq sauce from the coffee table

Pour out the bbq sauce from the coffee table

Place down the bbq sauce on the coffee table

Pick up the cookies from the coffee table

Place down the cookies into the akita black bowl

Place down the cookies on the coffee table

Pick up the frypan from the coffee table


A robotic arm prepares a snack scene by rearranging objects, including opening the short cabinet and microwave, moving a white bowl, popcorn, a white-yellow mug, and milk from the coffee table to the countertop, and combining them appropriately for use.

Pick up the popcorn from the coffee table

Pour out the milk into the white yellow mug


The task involves arranging various kitchen items by opening the microwave, transferring macaroni_and_cheese from the coffee_table to the microwave, placing cream_cheese into a white_bowl, pouring orange_juice onto a wooden_tray, setting a wine_bottle on the dining_set_group, and placing a moka_pot on the wooden_tray to prepare a diverse kitchen scene.

Pick up the macaroni and cheese from the coffee table

Place the macaroni and cheese into the microwave in heating region

Pick up the cream cheese from the coffee table

Place the cream cheese into the white bowl

Place the cream cheese on the coffee table

Pour out the orange juice onto the wooden tray in contain region

Pick up the wine bottle from the coffee table

Place the wine bottle on the dining set group

Pick up the moka pot from the coffee table

Place the moka pot on the wooden tray in contain region


Set up a wooden tray from the coffee table on the serving area, arranging a red coffee mug, porcelain mug, and wine bottle on it while pouring the wine bottle's contents onto the tray, and open the short fridge to possibly retrieve additional items.

Pick up the red coffee mug from coffee table

Place the red coffee mug on the wooden tray

Pick up the porcelain mug from coffee table

Place the porcelain mug on the wooden tray

Pick up the wine bottle from coffee table

Pour out the contents from the wine bottle onto the wooden tray

Place the wine bottle on the wooden tray

Open the middle region of the short fridge


Prepare a warmed orange juice beverage in a porcelain mug using the microwave and arrange tomato sauce in a chefmate frying pan for cooking purposes.

Pick up the porcelain mug from the white cabinet with top side.

Place the porcelain mug on the coffee table.

Pick up the orange juice from the coffee table.

Pour out the orange juice into the porcelain mug on the coffee table.

Place the orange juice container on the coffee table.

Pick up the porcelain mug with orange juice from the coffee table.

Place the porcelain mug with orange juice into the microwave with heating region.

Pick up the frypan from the tomato sauce

Pour out the tomato sauce into the frypan.