Organize various items, including a white storage box, cookies, a white-yellow mug, a wine bottle, a chefmate frypan, and a moka pot, by moving and positioning them on a coffee table or within the storage box to create a creative setup.

Release the cookies into white storage box

Pour the wine from the wine bottle into white yellow mug


Organize various kitchen items such as a bowl drainer, macaroni and cheese, and a frying pan on the table while preparing a beverage by pouring orange juice into a red coffee mug.

Pick up the orange juice from coffee table

Pour out the orange juice into the red coffee mug

Place the orange juice on the coffee table

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese into the bowl drainer at left region


The task involves assembling a quick snack setup by transferring and combining items, including a chefmate_8_frypan, macaroni_and_cheese, and tomato_sauce, between the wooden_cabinet, coffee_table, and wooden_two_layer_shelf.

Open the wooden cabinet at its middle region

Pick up the frypan from the coffee table

Place down the frypan onto the wooden two layer shelf at its top region

Pick up the macaroni and cheese from the wooden cabinet at its middle region

Place down the macaroni and cheese into the frypan on the wooden two layer shelf at its top region

Pick up the tomato sauce from the coffee table

Pour out the tomato sauce onto the macaroni and cheese in the frypan

Place down the tomato sauce container onto the coffee table


The task involves preparing a mixed dish in the white_bowl by retrieving cream_cheese from the short_cabinet, new_salad_dressing from the coffee_table, and milk from the coffee_table, and combining them in the white_bowl.

Pick up cream cheese from short cabinet at its top region

Pick up new salad dressing from coffee table

Pour out new salad dressing into white bowl

Place the new salad dressing on the coffee table


Organize items by placing chocolate_pudding into the wooden_cabinet middle_region, butter into the wooden_cabinet top_region, and white_bowl into the basket contain_region for storage.

pick up chocolate pudding from coffee table

Place down chocolate pudding into the wooden cabinet middle region

Place down butter into the wooden cabinet top region

Place down white bowl into basket contain region


Rearrange items between the wooden_cabinet and coffee_table by transferring the wine_bottle to the coffee_table, swapping the red_coffee_mug and white_yellow_mug into the wooden_cabinet, pouring out the orange_juice, and returning its container to the coffee_table.

Open the wooden cabinet at its middle region.

Pick up the wine bottle from the wooden cabinet located in top side region.

Place the wine bottle onto the coffee table.

Pick up the red coffee mug from the coffee table.

Place the red coffee mug into the opened wooden cabinet placed at top region.

Pick up the orange juice from the coffee table.

Place the orange juice container onto the coffee table.

Close wooden cabinet at its middle region.

Open the bottom area of wooden cabinets;

Pick up the white yellow mug from the coffee table.

Place the white yellow mug into the opened wooden cabinet placed at bottom region.


Prepare a beverage setup by placing a white bowl with salad dressing and a porcelain mug with milk on the table, while organizing a wine bottle onto the top region of the wooden shelf.

Pour out the salad dressing into the white bowl

Place the salad dressing on the coffee table.

Place the wine bottle on the wooden shelf top region


Use a robotic arm to organize items from the coffee_table by storing cream_cheese in the short_cabinet, placing chocolate_pudding on a plate, preparing a beverage by pouring wine from a wine_bottle into a red_coffee_mug, and arranging the mug on the table.

Open the short cabinet located in middle region

Pick up the cream cheese from the coffee table

Place down the cream cheese into the short cabinet located in middle region

Pick up the chocolate pudding from the coffee table

Place the chocolate pudding on the plate

Pick up the wine bottle from the coffee table

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


Warm orange juice in a porcelain mug using a flat stove while preparing a cream cheese spread by mixing cream cheese and butter in a white bowl, both utilizing objects from the coffee table.

Pick up the porcelain mug from coffee table

Place the porcelain mug near the orange juice on coffee table

Pick up the orange juice from coffee table

Pour the orange juice into the porcelain mug

Place the empty orange juice container back on coffee table

Turn on the flat stove control from coffee table in cook region

Pick up the porcelain mug from its current Place on coffee table

Place the porcelain mug onto the flat stove in cook region

Pick up the white bowl from coffee table

Place the white bowl near the cream cheese on coffee table

Pick up the cream cheese from coffee table

Place the cream cheese into the white bowl


The task involves assembling a snack by placing cookies and cream cheese on a wooden tray, then moving the tray to a short fridge and storing it inside.

Release the macaroni and cheese into the akita black bowl.

Pour wine-bottle into a white yellow mug.

Return the wine bottle to an upright Place.

Pick the chocolate pudding from the coffee table.

Release the chocolate pudding into the basket in contain region.

Pick the moka pot from the coffee table.

Place the moka pot on the left region of the bowl drainer in left region.

Pick the alphabet soup from the coffee table.

Place the alphabet soup onto the dining set group.


Prepare an akita_black_bowl containing macaroni_and_cheese, butter, and tomato_sauce from the coffee_table and white_cabinet for heating in the microwave.

Pick up macaroni and cheese from coffee table

Place down macaroni and cheese into akita black bowl

Pick up butter from white cabinet located in top side

Pour out tomato sauce into akita black bowl


Prepare a snack by placing cream cheese and cookies onto a plate, and a beverage by pouring wine into a white-yellow mug, using items from the white cabinet and coffee table.

Pick up the cream cheese from the white cabinet located in top side.

Pick up the cookies from the coffee table.

Pour out the wine bottle into the white yellow mug.


Reorganize kitchen items by moving the plate from the coffee_table to the white_cabinet, placing the chefmate_8_frypan from the coffee_table into the microwave, and pouring wine from the wine_bottle onto the coffee_table before returning the bottle to the coffee_table.

Place the plate into the white cabinet at top side

Place the frypan into the microwave at heating region

Pick up the wine bottle from coffee table

Pour out the wine from the wine bottle onto the coffee table

Place the wine bottle onto the coffee table


Organize cream_cheese into the white_cabinet, prepare alphabet_soup on a plate, and activate the flat_stove while managing related kitchen storage.

Place cream cheese into white cabinet top side.

Pick up alphabet soup from coffee table.

Place the alphabet soup on the coffee table


Heat cookies in the microwave and serve orange juice in a red coffee mug.

Place the plate into short cabinet top region.

Place the frypan onto flat stove cook region.

Pick up the tomato sauce from coffee table.

Place the tomato sauce back onto coffee table.

Pick up the salad dressing from coffee table.

Place the salad dressing back onto coffee table.

Pick up the wine bottle from coffee table.

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

Place the wine bottle back onto coffee table.

Pick up the wooden tray from coffee table.

Place the wooden tray at the serving area contain region.

Pick up the porcelain mug from coffee table.

Place the porcelain mug onto the wooden tray contain region.


Prepare a simple cooking setup by retrieving a chefmate_8_frypan from the white_cabinet to place on and activate the flat_stove, and organizing ingredients like cream_cheese in a glazed_rim_porcelain_ramekin, and wine_bottle on the counter.

Pick up frypan from white cabinet top region.

Place frypan onto flat stove cook region.

Place cream cheese into glazed rim porcelain ramekin.


Place the cookies into the microwave top side

Pick up the orange juice from coffee table

Pour the orange juice into the red coffee mug

Place the orange juice on the coffee table


A robotic arm organizes kitchen items by picking them from the coffee table, performing specific operations like pouring sauce, and placing them in designated locations such as a rack, wooden tray, or basket using a gripper.

Pick up tomato sauce from the coffee table

Tilt tomato sauce container to pour sauce into white bowl

Pick glazed rim porcelain ramekin from coffee table

Open gripper to release glazed rim porcelain ramekin onto wooden tray at contain region

Place popcorn into basket at contain region 2


The task involves using a robotic arm to organize kitchen items by moving them from the coffee table to designated storage or functional areas, such as placing butter in a white storage box, setting items like a ramekin and moka pot on a wooden tray, organizing food items like macaroni and cheese on the tray, positioning a mug inside the microwave, and pouring liquids like orange juice and wine onto the wooden tray.

Place butter into white storage box[top side]

Pick up red coffee mug from coffee table

Place red coffee mug into microwave[heating region]

Pick up glazed rim porcelain ramekin from coffee table

Place glazed rim porcelain ramekin onto wooden tray[contain region]

Pick up macaroni and cheese from coffee table

Place macaroni and cheese onto wooden tray[contain region]

Pour orange juice out onto wooden tray[contain region]

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

Place the wine bottle on the coffee table

Place moka pot onto wooden tray[contain region]


Assemble a snack display by arranging cookies and a porcelain mug filled with wine on a plate, sourced from a white cabinet and a coffee table.

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

Place down the plate on the coffee table

Pick up the cookies from the coffee table

Pick up the porcelain mug from the coffee table

Place down the porcelain mug on the plate

Pick up the wine bottle from the coffee table

Pour out the wine bottle contents into the porcelain mug on the plate

Place down the wine bottle on the coffee table


The task involves a robotic arm sequentially interacting with various objects, including a wooden cabinet, coffee table, akita black bowl, red coffee mug, bowl drainer, rack, and white storage box, to move, grasp, align, release, and place these objects for arranging and organizing them in specific regions.

pull the wooden cabinet door open at middle region

release the akita black bowl into the wooden cabinet at middle region

Pick up the akita black bowl from the coffee table.

Pick up the red coffee cup from the coffee table.

release the red coffee mug onto the bowl drainer at left region

Place the rack adjacent to the white storage box at top side


Prepare a mixed soup by combining macaroni_and_cheese, tomato_sauce, and alphabet_soup into the akita_black_bowl.

Open the middle region of short cabinet.

Pick up the akita black bowl from short cabinet top region.

Place down the akita black bowl on the table.

Pick up the macaroni and cheese from coffee table.

Place down the macaroni and cheese into akita black bowl.

Pick up the tomato sauce from coffee table.

Pour out the tomato sauce from its container into akita black bowl.

Place the tomato sauce on the coffee table

Pick up the alphabet soup from coffee table.

Pour out the alphabet soup from its container into akita black bowl.

Place alphabet stoup on the coffee table


The task involves organizing serving elements by moving the white_bowl from the coffee_table to the short_cabinet, rearranging and using the plate, wine_bottle, and tomato_sauce on the coffee_table for serving preparation purposes.

Pick up the white bowl from the coffee table

Place down the white bowl into the short cabinet in middle region

Pick up the wine bottle from the coffee table

Place down the wine bottle on the coffee table

Pick up the tomato sauce from the coffee table


Warm up cookies using a microwave, then serve them on a plate with chocolate pudding for presentation.

Place down the cookies in the microwave at heating region

Pick up the cookies from the microwave at heating region

Pick up the chocolate pudding from coffee table

Place down the chocolate pudding on the plate


The task involves using a white bowl, chefmate_8_frypan, wooden_cabinet, popcorn, orange_juice, bbq_sauce, coffee_table, and flat_stove to prepare a savory snack mix by combining ingredients in the frypan and heating it on the stove.

Open the wooden cabinet at middle region

Pour out the orange juice into the white bowl

Place down the frypan on the wooden cabinet at bottom region


Organize and display various kitchen items—BBQ sauce, alphabet soup, cream cheese, glazed rim porcelain ramekin, white yellow mug, and wine bottle—by placing them in designated storage regions including the short cabinet, wooden tray, bowl drainer, and rack, to ensure efficient arrangement.

Open the door of the short cabinet middle region, region middle region

Place the bbq sauce inside the short cabinet middle region, region middle region

Place the alphabet soup in the short cabinet top region, region top region

Place the cream cheese on the wooden tray, region contain region

Pick up the glazed rim porcelain ramekin

Place the glazed rim porcelain ramekin inside the bowl drainer left region, region left region

Place the white yellow mug on the wooden tray, region ERROR – contain region already occupied


Organize a mini snack and beverage setup by transferring cookies from the coffee table to a white bowl, pouring wine from a wine bottle, and preparing a red coffee mug for heating on a flat stove in the cooking region.

Place the control on the flat stove in cook region

Place red coffee mug onto the flat stove in cook region


Reorganize kitchen items by relocating the white_bowl to the short_cabinet middle_region, the porcelain_mug to the wooden_tray contain_region, and the chefmate_8_frypan to the rack, while disposing of tomato_sauce from the coffee_table for efficient use of space.

Place white bowl into short cabinet middle region.

Pick up porcelain mug from coffee table.

Place porcelain mug on wooden tray contain region.


A robotic arm retrieves an orange juice container from the short fridge, pours its contents into a bowl, transfers popcorn to a wooden tray, pours wine into a ramekin, and places the emptied containers back on the coffee table.

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

Pour the orange juice into the akita black bowl.

Place the empty orange juice container onto the coffee table.

Place the popcorn onto the wooden tray in contain region.

Pick the wine bottle from the coffee table.

Pour the wine into the glazed rim porcelain ramekin.

Place the empty wine bottle onto the coffee table.


Organize ingredients (butter, cookies) by moving them to storage spaces (wooden_cabinet, white_storage_box) and prepare a refreshing drink by pouring orange_juice from the coffee_table into a white_yellow_mug.

Pick up the butter from the coffee table

Place butter into the wooden cabinet top region

Pick up the cookies from the coffee table

Place cookies into the white storage box top side

Pick up the orange juice from the coffee table

Pour orange juice into the white yellow mug


The task involves organizing a sauce display by retrieving cream_cheese from a wooden_cabinet and placing it on a coffee_table, preparing a plate with tomato_sauce, and placing alphabet_soup into a microwave for further use.

Open the wooden cabinet [top region] by moving its door so that the top region is accessible

Pick up cream cheese from inside the wooden cabinet [top region]

Place down cream cheese onto the surface of the coffee table

Pick up tomato sauce from the coffee table

Pour out tomato sauce onto the plate ensuring even coverage

Place thetomato sauce on the coffee table

Open the microwave [top side] by lifting its top side to reveal the interior

Pick up alphabet soup from the coffee table surface

Place down the alphabet soup into the microwave’s interior [top side]


Combine cream_cheese and tomato_sauce on a plate, then heat the plate in the microwave to prepare a dish.

Place the cream cheese on the coffee table

Place the tomato sauce on the coffee table

Place the plate into the microwave [heating region].


The robotic arm performs a sequence of tasks to pick up, transport, and place various objects (butter, chefmate_8_frypan, porcelain_mug, wine_bottle) between designated locations (coffee_table, wooden_shelf, rack, wine_rack) while also pouring new_salad_dressing into the porcelain_mug.

Place the butter onto the wooden shelf top region

Pour the new salad dressing into the porcelain mug

Return the container to an upright Place

Pick the wine bottle from the coffee table

Place the wine bottle onto the wine rack top region


Organize the white_yellow_mug, popcorn, and plate into specified storage regions by placing the mug in the short_cabinet, the popcorn in the white_cabinet, and the plate in the bowl_drainer.

Place the white yellow mug into the top region of the short cabinet

Open the bottom region of the white cabinet

Place the popcorn into the bottom region of the white cabinet

Place the plate into the left region of the bowl drainer


Prepare a mixed snack by combining cookies and cream cheese in the akita_black_bowl, organize cooking tools by storing the chefmate_8_frypan in the wooden_cabinet top_region, and handle a wine bottle for pouring and returning its contents on the coffee_table.

Pick up the frypan from the coffee table

Place the frypan in the top area of the wooden cabinet

Pick up the wine bottle from the coffee table

Tilt the wine bottle to pour out its contents

Return the wine bottle and place it on the coffee table

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


A robotic arm organizes food items (popcorn, tomato sauce, wine bottle) and tableware (white-yellow mug) by picking them up from a coffee table, pouring tomato sauce into the mug, and placing the items into designated regions of a wooden and white cabinet.

Pick up the cream cheese from the coffee table.

Place the cream cheese inside the white storage box, white storage box region bottom side.

Pick up the frypan from the coffee table.

Pick up the chocolate pudding from the coffee table.

Place the chocolate pudding inside the basket, basket region contain region.


Organize kitchen items by transferring macaroni_and_cheese, porcelain_mug, and wine_bottle from the coffee_table to designated regions in the short_cabinet and white_storage_box, and turning on the flat_stove cook_region.

Pick up macaroni and cheese from coffee table

Place down macaroni and cheese into short cabinet top region

Place down porcelain mug into white storage box bottom side

Open the bottom area of the short cabinet

Place down wine bottle into short cabinet bottom region


The task involves organizing and interacting with kitchen items by transferring and arranging a white_bowl, popcorn, a white_storage_box, a wine_bottle, and a moka_pot on and off the coffee_table, as well as opening the microwave.

Pick up the popcorn from the coffee table

Pick up the white bowl containing popcorn from the coffee table.

Place the white bowl into the white storage box on top side


Prepare a simple snack by placing cookies into a white bowl, pouring milk into a porcelain mug, and heat up a cooking tool by placing the chefmate_8 frying pan onto a flat stove and turning it on.

Pick up the cookies from the coffee table

Place the milk back on the kitchen table

Pick up the frypan from the coffee table

Place the frypan onto the flat stove in cook region


Organize and repurpose kitchen items, including a wooden_cabinet, white_bowl, glazed_rim_porcelain_ramekin, wine_bottle, and chefmate_8_frypan, to set up a creative cooking scene by repositioning them across various locations like a coffee_table, white_storage_box, and bowl_drainer.

Pick up the white bowl from the coffee table

Place the white bowl into the wooden cabinet top region

Pick up the glazed rim porcelain ramekin from the coffee table

Place the glazed rim porcelain ramekin on the white storage box top side

Pick up the wine bottle from the coffee table

Pour out the contents of the wine bottle

Place the wine bottle on the kitchen table

Place the frypan on the bowl drainer left region


Prepare a cooking station by retrieving a plate from the white cabinet, setting it on the table, adding tomato sauce from the coffee table, pouring milk into a white-yellow mug, and organizing relevant tools like the microwave and bowl drainer.

Pick up the plate from white cabinet top region

Pick up the tomato sauce from coffee table


The task involves organizing food storage by placing cream_cheese into a white_storage_box and preparing a beverage by pouring wine from a wine_bottle into a white_yellow_mug, with all objects interacting on a coffee_table.

Pick up the cream cheese from coffee table.

Place the cream cheese into the white storage box at bottom side.

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 onto coffee table.


The task involves organizing dining items by placing a plate onto the dining_set_group, storing bbq_sauce in the white_storage_box, and placing a wine_bottle in the upper_region of the short_fridge.

Place down the plate onto the dining set group.

Place down the bbq sauce into the white storage box on its top side.

Open the short fridge in its upper region.

Place down the wine bottle into the short fridge's upper region.


Prepare a fusion meal by combining chilled macaroni_and_cheese (retrieved from the short_fridge) with tomato_sauce and orange_juice on a plate (moved from the coffee_table to the table), and serve a wine_bottle drink poured into a red_coffee_mug (also relocated from the coffee_table to the table).

Open the lower region door of the short fridge, which is located in lower region.

Pick up the macaroni and cheese from the short fridge, which is located in upper region.

Place the macaroni and cheese onto the plate.

Place the macaroni and cheese onto the coffee mug .

Pick up the ketchup from the coffee table.

Pick up the orange juice from the coffee table.

Place the orange juice back on the coffee table.

Pick up the wine bottle from the coffee table.

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


Reorganize kitchen items by relocating the white_bowl to the white_cabinet, placing the porcelain_mug in the microwave, and handling the orange_juice and wine_bottle from the coffee_table.

Open the middle area of the white cabinet

Pick up the white bowl from the coffee table

Place down the white bowl into the white cabinet middle region

Pick up the porcelain mug from the coffee table

Place down the porcelain mug into the microwave heating region

Pick up the orange juice container from the coffee table

Pour out the orange juice from its container

Place down the orange juice container onto the coffee table

Pick up the wine bottle from the coffee table


The task involves preparing a heated macaroni and cheese dish using a white bowl, macaroni and cheese, milk, a chefmate_8_frypan, and a flat stove, where ingredients are combined, transferred, and heated on the stove.

Pick up macaroni and cheese from coffee table

Place down macaroni and cheese into white bowl

Place the macaroni and cheese on the coffee table

Place down frypan onto flat stove in cook region


Organize a snack station by moving items from the coffee_table to designated storage locations: place the plate in the white_cabinet top_region, the chefmate_8_frypan on the rack, and the popcorn into the bowl_drainer right_region.

Pick up the plate from the coffee table.

Place the plate into the white cabinet top region.

Pick up the frypan from the coffee table.

Pick up the popcorn from the coffee table.

Place the popcorn into the bowl drainer right region.


The task involves organizing kitchen tools and snacks by moving the chefmate_8_frypan from the coffee_table to a rack, retrieving cookies from the white_cabinet and placing them on the coffee_table, pouring wine from a wine_bottle into a glazed_rim_porcelain_ramekin and returning the bottle to the coffee_table, and transferring popcorn from the coffee_table to an akita_black_bowl.

Pick up cookies from white cabinet top side

Pour out wine bottle into glazed rim porcelain ramekin


Prepare a mixed dish by combining macaroni and cheese, tomato sauce, and ketchup in the akita_black_bowl, interacting with storage appliances, and presenting the bowl on a plate.

Place macaroni and cheese into akita black bowl

Place macaroni and cheese on the coffee table

Pick up akita black bowl from coffee table


A robotic arm sequentially performs cooking and organizing tasks by interacting with various objects, including powering on a flat stove, maneuvering a frypan, pouring wine, and organizing items like a coffee mug, butter, cream cheese, and a wine bottle across designated regions such as a coffee table, wooden shelves, and the cook region.

Turn on the power switch on the flat stove in cook region.

Place the frypan onto the flat stove in cook region.

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

Place the wine bottle onto the coffee table.

Place the butter into the wooden two layer shelf in top side.

Place the cream cheese into the wooden shelf in middle region.


Warm up chocolate pudding by transferring it into a white bowl, placing the bowl into a microwave, and preparing the microwave for heating.

Pick up the chocolate pudding from the coffee table

Place the chocolate pudding into the white bowl

Place the chocolate pudding on the coffee table

Pick up the white bowl from the coffee table

Place the white bowl into the microwave in its heating region


The task involves transferring chocolate_pudding from the coffee_table to an akita_black_bowl, heating it in the microwave, and storing cream_cheese from the coffee_table into the top region of the white_cabinet.

Pick up chocolate pudding from coffee table

Place chocolate pudding into akita black bowl

Place the chocolate pudding back on the kitchen table

Place cream cheese into white cabinet [Region: top region]


Organize a snack by retrieving cookies from the white_cabinet and placing them on the coffee_table, and serve a refreshing drink by pouring the wine_bottle contents into the white_yellow_mug on the coffee_table.

Open the white cabinet in top side region

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


The task involves preparing a snack by assembling chocolate pudding, cookies, and popcorn in and around a white bowl for presentation while also inspecting the short fridge by opening it.

Pour out chocolate pudding into white bowl


Prepare a snack plate by dressing popcorn with salad dressing and ketchup on the coffee_table and store the wine_bottle in the wine_rack at its top_region.

Pick the salad dressing container from the coffee table

Tilt the salad dressing container to pour out the dressing

Return the salad dressing container to an upright Place

Pick the ketchup container from the coffee table

Tilt the ketchup container to pour out the ketchup

Return the ketchup container to an upright Place

Pick the wine bottle from the coffee table

Release the wine bottle onto the wine rack at top region


Prepare a snack combo by filling a white bowl with cream cheese and cookies as a dessert and a red coffee mug with BBQ sauce as a sauced mug, using objects from the coffee table and a short fridge.

Pick up the cream cheese from coffee table

Pour out the cream cheese into the white bowl

Place down the cream cheese container on coffee table

Place down the cookies into the white bowl

Place the cookies back on the coffee table

Pour out the bbq sauce into the red coffee mug

Place down the bbq sauce container on coffee table


Prepare a chilled beverage setup by transferring a wine bottle from a wooden cabinet to a short fridge, and pouring milk from the coffee table into a white bowl.

pick up the wine bottle from the wooden cabinet at top region

Place down the wine bottle into the short fridge at middle region


Prepare a blended sauce mixture by combining tomato sauce, milk, and salad dressing in a frypan on a flat stove, transfer a portion into a mug, add a dash of wine, and serve.

Place frypan on cook region of flat stove

Pick up salad dressing from coffee table

Place salad dressing back on coffee table

Pick up the chefmate 8 frypan from the flat stove.

Pour a portion of the mixture from frypan into red coffee mug

Place the chefmate 8 frypan on the kitchen table.


Organize the coffee table by moving kitchen items: place the plate into the top region of the white cabinet, the popcorn into the middle region of the white cabinet, and the red coffee mug onto the microwave's top side after opening its heating region.

Open the white cabinet [region: top region].

Pick up the plate from the coffee table.

Place the plate into the white cabinet [region: top region].

Close the white cabinet[region: top region].

Pick up the popcorn from the coffee table.

Place the popcorn into the white cabinet [region: middle region].

Pick up the red coffee mug from the coffee table.

Place the red coffee mug onto the microwave [region: top side].

Open the microwave [region: heating region].


Arrange items on the coffee_table by placing cookies into the akita_black_bowl and pour milk from the short_fridge onto the coffee_table after retrieving it.

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

Pour out the milk onto the coffee table.

Pick up the cookies from the coffee table.

Pour the cookies into the akita black bowl.


Prepare a snack by transferring popcorn into a white bowl, heating it in a microwave, and serving wine in a white-yellow mug from a wine bottle.

Place white bowl onto microwave at heating region

Pour wine from wine bottle into white yellow mug


The robotic arm performs a sequence of actions involving cooking and cleaning tasks by interacting with objects including a microwave, coffee table, alphabet soup, chefmate frypan, white bowl, porcelain mug, dining set group, bowl drainer, and basket to heat food, set dining items, and organize kitchenware.

Pull the microwave door open at top side

Place the alphabet soup into the microwave at top side

Place the frypan onto the dining set group

Place the white bowl into the bowl drainer at left region

Place the porcelain mug into the basket at contain region


Assemble a snack plate by retrieving a plate, butter, cream cheese, and popcorn from specified locations and arranging them on the plate for serving.

Pick up the butter from short cabinet top region

Pick up the cream cheese from coffee table


The task involves organizing and preparing items—salad_dressing, wine_bottle, white_yellow_mug, glazed_rim_porcelain_ramekin, and chocolate_pudding—by relocating them between a coffee_table, short_fridge, and white_storage_box, while also pouring wine into the mug for display and storage purposes.

Pick up salad dressing from coffee table

Place down salad dressing into short fridge upper region

Pour wine into flow into white yellow mug

Place down wine bottle onto coffee table

Pick up chocolate pudding from coffee table

Place down chocolate pudding into white storage box top side


The task involves warming up cream cheese on a plate in a microwave and serving it with wine, using a microwave, coffee table, plate, cream cheese, and a wine bottle.

Place the cream cheese on the coffee table

Place plate into microwave heating region

Pour out wine from wine bottle onto plate


The task involves organizing food items (bbq_sauce, popcorn) and beverages (wine_bottle, red_coffee_mug) by placing them into designated storage areas (short_fridge, wooden_shelf, white_storage_box) to ensure proper storage and arrangement.

Pick up the bbq sauce from coffee table.

Place down the bbq sauce into the short fridge middle region.

Place down the popcorn onto the wooden shelf top region.

Pick up the wine bottle from coffee table.

Place down the wine bottle into the white storage box top side.

Pick up the red coffee mug from coffee table.

Place down the red coffee mug into the white storage box bottom side.


The task involves retrieving a chefmate_8_frypan from and returning it to a wooden_cabinet, heating alphabet_soup in a microwave, and pouring tomato_sauce into a red_coffee_mug after manipulating and repositioning various objects from a coffee_table.

Pick the alphabet soup from the coffee table.

Place the alphabet soup into the microwave at top side.

Pick the tomato sauce from the coffee table.

Pour the tomato sauce into the red coffee mug.


The task involves organizing a chefmate_8_frypan into a white_cabinet, pouring contents of a wine_bottle onto a plate, and arranging a red_coffee_mug on a wooden_tray placed on a coffee_table to prepare a serving setup.

Tilt wine bottle to pour its contents onto plate

Place red coffee mug onto wooden tray contain region


The task involves setting up a small serving station by organizing cookies in the short cabinet, pouring wine from a wine bottle into a white-yellow mug, and pouring tomato sauce into a glazed rim porcelain ramekin using items from a coffee table.

Place down cookies into short cabinet at top region

Pour out wine bottle into white yellow mug

Pour out tomato sauce into glazed rim porcelain ramekin


The task involves using a robotic arm to prepare and organize food by interacting with objects like a flat stove, wooden cabinet, coffee table, cream cheese, butter, wine bottle, and bowls (white and akita black), executing actions such as powering on the stove, moving and storing food items, and pouring wine into a bowl.

Pull the door of the wooden cabinet to open it in top side.

Place the cream cheese on the coffee table.

Release the cream cheese into the wooden cabinet in top side.

Pick up the butter from the kitchen table.

Pick up the wine bottle from the kitchen table.

Move the wine bottle above the akita black bowl.


Organize items by storing the akita_black_bowl in the short_cabinet middle_region, setting up the microwave on the coffee_table for heating the alphabet_soup, and retrieving the wine_bottle from the coffee_table.

Pick up the akita black bowl from coffee table

Place the akita black bowl into short cabinet middle region

Pick up the alphabet soup from coffee table

Place the alphabet soup into microwave heating region

Pick up the wine bottle from coffee table


Prepare a flavored beverage by pouring wine into a frypan and transferring it to a mug, and a tasty snack by placing butter and popcorn onto a plate.

pick up butter from wooden cabinet top side

Pick up the wine bottle from the coffee table

pour out wine from wine bottle into frypan

Place the wine bottle on the coffee table

pour out contents of frypan into white yellow mug

Pick up the frypan from the coffee table


The task involves using a wooden_tray, porcelain_mug, orange_juice, milk, and tableware items from a wooden_cabinet and coffee_table to organize and pour beverages into an akita_black_bowl and a bowl_drainer for serving or disposal purposes.

Open the wooden cabinet [region: top side]

Pick up the wooden tray from the wooden cabinet [regions: wooden tray: contain region; wooden cabinet: top side]

Place down the wooden tray on the coffee table [region: contain region]

Pick up the porcelain mug from the coffee table

Place down the porcelain mug on the wooden tray [region: contain region]

Pick up the orange juice from the coffee table

Pour out the orange juice into the akita black bowl

Pour out the milk into the bowl drainer [region: left region]


Prepare the moka_pot on the flat_stove for cooking, pour out the wine from the wine_bottle, and store the butter in the short_cabinet middle_region after retrieving the objects from the coffee_table.

Pick up the moka pot from the coffee table.

Place the moka pot on the flat stove cook region.

Pick up the wine bottle from the coffee table.

Place the wine bottle on the coffee table.

Pick up the butter from the coffee table.

Place the butter into the short cabinet middle region.


Prepare a dish by combining macaroni_and_cheese, salad_dressing, and butter in a chefmate_8_frypan and placing the frypan onto a rack.

Pick up macaroni and cheese from coffee table

Place down macaroni and cheese into frypan

Place macaroni and cheese on the coffee table

Pick up salad dressing from coffee table

Place salad dressing on the coffee table


The task involves arranging a playful kitchen scene by interacting with objects such as a wooden cabinet, coffee table, microwave, plate, chocolate pudding, white-yellow mug, and wine bottle to organize and place items in specific locations.

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

Place down the chocolate pudding on the plate

Pick up the white yellow mug from the coffee table

Place down the white yellow mug on the microwave's top side

Pick up the wine bottle from the coffee table


The task involves organizing kitchen items by moving the chocolate_pudding from the coffee_table to the wooden_two_layer_shelf top_region, repositioning the bowl_drainer to the coffee_table, and placing the chefmate_8_frypan onto the rack.

Pick up the chocolate pudding from coffee table

Place chocolate pudding into wooden two layer shelf top region


Reorganize selected items by placing the chefmate_8_frypan on the wooden_cabinet top_region, pouring and returning the wine_bottle on the coffee_table, and storing the red_coffee_mug in the short_fridge middle_region.

Pick up the frypan from the coffee table

Place down the frypan on the wooden cabinet top region

Pour out the wine bottle on 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 into the short fridge middle region


Organize the red_coffee_mug and white_yellow_mug into designated cabinets and pour out the wine from the wine_bottle onto the coffee_table before placing the empty bottle back.

Open the top region of the white cabinet

Place the red coffee mug into the top region of the white cabinet

Open the middle region of the short cabinet

Place the white yellow mug into the middle region of the short cabinet

Pour out the contents of the wine bottle onto the coffee table

Place the empty wine bottle on the coffee table


The task involves using a chefmate_8_frypan, flat_stove, butter, akita_black_bowl, and alphabet_soup to cook butter in the pan and serve alphabet_soup in a bowl placed on a coffee_table.

Place the frypan on the flat stove in cook region

Pick up the alphabet soup from coffee table

Pour out the alphabet soup into the akita black bowl


Prepare microwave-heated cookies by placing them in the microwave, combine cream cheese in a white bowl for a dip, and organize a wine bottle by pouring wine into a ramekin and placing the bottle on a table.

Pick up the cookies from the coffee table.

Place the cookies inside the microwave oven.

Pick up the cream cheese from the coffee table.

Place the cream cheese into the white bowl.

Pick up the wine bottle from the coffee table.

Pour out the wine from the wine bottle onto the glazed rim porcelain ramekin.


The task involves setting up a kitchen and serving beverages by preparing a moka_pot on a flat_stove, pouring wine and orange juice into a porcelain_mug, and arranging items like a white_bowl, macaroni_and_cheese, and alphabet_soup on a dining_set_group for service.

Pick up the moka pot from the coffee table.

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

Pick up the porcelain mug from the coffee table.

Place the porcelain mug next to the moka pot.

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

Place the wine bottle back on the coffee table.

Pick up the orange juice from the coffee table.

Pour the contents of the orange juice into the porcelain mug.

Place the orange juice back on the coffee table.

Pick up the white bowl from the coffee table.

Place the white bowl on the dining set group.

Pick up the macaroni and cheese from the coffee table.

Pour the macaroni and cheese into the white bowl.

Place the macaroni and cheese beside the white bowl.

Pick up the alphabet soup from the coffee table.

Place the alphabet soup beside the white bowl.


Arrange items from a coffee_table onto a wooden_tray on a dining_table, including a plate with cookies, an akita_black_bowl with poured wine, and prepare a bowl_drainer for serving.

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

Place the wooden tray with contain region on the dining table

Place the plate on the wooden tray with contain region

Pick up the akita black bowl from the coffee table

Place the akita black bowl on the wooden tray with contain region

Pick up the cookies from the coffee table

Pick up the wine bottle from the coffee table

Pour the wine bottle into the akita black bowl

Pick up the bowl drainer with left region from the coffee table


The task involves storing cream cheese in the middle region of a short cabinet, heating macaroni and cheese in the microwave, and pouring orange juice into a white-yellow mug.

Open the short cabinet on its middle region

Pick up the cream cheese from the coffee table

Place the cream cheese into the short cabinet middle region

Pick up the macaroni and cheese from the coffee table

Place the macaroni and cheese into the microwave heating region

Pick up the orange juice from the coffee table

Pour the orange juice into the white yellow mug


The task involves storing butter in the white_cabinet and preparing a serving setup by placing chocolate pudding into a glazed rim porcelain ramekin on the serving_table and pouring wine from a wine_bottle into a white_yellow_mug.

Pull open the white cabinet top region door located in top region

Place the butter into the white cabinet located in middle region

Pick the glazed rim porcelain ramekin from the coffee table

Place the glazed rim porcelain ramekin onto the serving table

Pick the chocolate pudding from the coffee table

Tilt the container to pour the chocolate pudding

Place the chocolate pudding on the coffee table

Pick the wine bottle from the coffee table

Tilt the wine bottle to pour wine into the white yellow mug


Prepare a heated macaroni and cheese dish with tomato sauce by combining them in an akita_black_bowl and heating it in a microwave.

Place the macaroni and cheese into the akita black bowl

Pour the tomato sauce onto the macaroni and cheese in the akita black bowl

Place the akita black bowl into the microwave heating region


The task involves preparing a beverage by pouring the contents of a wine bottle into a white-yellow mug and placing it on a wooden tray, while storing a chocolate pudding in a white storage box.

Pick up the wine bottle from coffee table

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

Pick up the white yellow mug from coffee table

Place the white yellow mug onto the wooden tray in contain region

Pick up the chocolate pudding from coffee table

Place the chocolate pudding into the white storage box in top side


A robotic arm organizes a mini kitchen scenario by interacting with objects such as a white_cabinet, coffee_table, flat_stove, cream_cheese, chefmate_8_frypan, and wine_bottle to move, store, and prepare items in specific locations and configurations.

Pick up the cream cheese from coffee table.

Place down the cream cheese into white cabinet top region.

Place down the frypan on the cook region of flat stove.

Pick up the wine bottle from coffee table.

Place down the wine bottle on coffee table.


Serve a chocolate pudding dessert on a wooden tray by arranging it with a plate, and store the wine bottle on its designated wine rack.

Place the plate on the wooden tray with contain region

Pick up the chocolate pudding from the coffee table

Place the chocolate pudding on the plate

Pick up the wine bottle from the coffee table

Place the wine bottle on the wine rack with top region


The task involves using a robotic arm to prepare and set up snacks by interacting with objects such as a coffee table, cookies, basket, flat stove, red coffee mug, white storage box, wine bottle, and bowl drainer to locate, pick, align, place, and operate them as needed.

Place the cookies into the basket in contain region.

Place the red coffee mug onto the white storage box at top side.

Tilt the wine bottle to pour out the wine at left side of the white storage box.

Place the wine bottle onto the coffee table.


Create a mixed-food-and-tableware arrangement by combining cream_cheese and tomato_sauce in an akita_black_bowl and nesting it into a wooden_tray placed on a table.

Place cream cheese into akita black bowl

Place the cream cheese on the coffee table

Place the tomato sauce on the coffee table

Pick up akita black bowl from coffee table

Place akita black bowl into wooden tray, which serves as a contain region


Set up a cooking scene by preparing the frypan on the stove to heat, transferring alphabet soup into a bowl, arranging a mug on the coffee table with wine poured into it, and organizing items from the cabinet and coffee table.

Pick up the frypan from the coffee table

Place down the frypan on the flat stove cook region

Pick up the alphabet soup from the coffee table

Pour out the alphabet soup into the akita black bowl

Place down the alphabet soup on the coffee table

Pick up the porcelain mug from the white cabinet top side

Place down the porcelain mug on the coffee table

Pick up the wine bottle from the coffee table

Pour out the wine bottle's content into the porcelain mug

Place down the wine bottle on the coffee table


The task involves using a robotic arm to organize kitchen items by opening the short_fridge, placing macaroni_and_cheese inside its middle_region after picking it up from the coffee_table, pouring wine from a wine_bottle into akita_black_bowl and tomato_sauce into white_bowl, then returning the wine_bottle and tomato_sauce to the coffee_table.

Pick up the macaroni and cheese from coffee table.

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

Pick up the wine bottle from coffee table.

Pour out the wine from wine bottle into the akita black bowl.

Pick up the tomato sauce from coffee table.

Pour out the tomato sauce from tomato sauce into the white bowl.


The task involves arranging a creative display setup by moving a plate from the coffee table to the top region of a white cabinet, pouring salad dressing into a white-yellow mug on the coffee table, and positioning a frypan next to the mug.

Open white cabinet top region, which serves as the access region of white cabinet

Place down plate into white cabinet top region, with the plate now placed in that region

Pour out new salad dressing into white yellow mug

Place down frypan next to white yellow mug


The task involves preparing a serving arrangement by transferring popcorn into an akita_black_bowl and placing it on a plate, pouring wine onto a wooden_shelf and placing the wine bottle on a table, positioning a chefmate_8_frypan on the table and adding bbq_sauce to it, while arranging all objects methodically.

Release the popcorn into the akita black bowl.

Place the akita black bowl onto the plate.

Tilt the wine bottle to initiate pouring onto the wooden shelf at its top region.

Pour the barbecue sauce into the barbecue pot


Create a snack-and-cook display by combining food items (popcorn, cream_cheese, and wine) with tableware (akita_black_bowl and glazed_rim_porcelain_ramekin) and activating a flat_stove in the kitchen region.

Place down popcorn into akita black bowl

Place down cream cheese into glazed rim porcelain ramekin

Place the cream cheese on the coffee table

Pour out contents of wine bottle onto akita black bowl


The task involves warming up macaroni_and_cheese using a flat_stove and flavoring it with bbq_sauce, with objects like a wooden_cabinet, coffee_table, and flat_stove used for preparation.

Open the wooden cabinet at the middle region

Pick up the macaroni and cheese from the coffee table

Place down the macaroni and cheese on the flat stove at the cook region

Turn on the flat stove at the cook region

Pick up the bbq sauce from the coffee table

Pour out the bbq sauce onto the macaroni and cheese


Transfer butter into the akita_black_bowl for storage in a basket, and place the wine bottle onto the white_bowl for positioning.

Pick up akita black bowl from coffee table

Place akita black bowl into basket with contain region


Create a visually engaging food preparation and appliance setup scene by arranging a white bowl with salad dressing and cookies on a coffee table, positioning a frypan on a flat stove, and placing a red coffee mug alongside the frypan.

Pick up salad dressing from the coffee table.

Place salad dressing on the coffee table.

Place frypan on the flat stove at cook region.

Pick up red coffee mug from the coffee table.


The task involves opening storage units and pouring tomato sauce into a white-yellow mug and wine into a red coffee mug, both resting on a coffee table, before returning the ingredients to their original location.

Pour tomato sauce into white yellow mug resting on coffee table.

Place tomato sauce back on coffee table.

Pour wine from wine bottle into red coffee mug resting on coffee table.


Store the cream cheese and plate from the coffee table into the specified regions of the white cabinet, then check the microwave.

Place down cream cheese into white cabinet top side

Open the middle area of the white cabinet

Place down plate into white cabinet middle region


Prepare a mixed serving by combining chocolate pudding and salad dressing in a white bowl and pouring wine from a wine bottle into a white and yellow mug, using tableware and food items placed on a coffee table.

Pick up chocolate pudding from coffee table

Pour out chocolate pudding into white bowl

Pick up new salad dressing from coffee table

Pour out new salad dressing into white bowl

Place new salad dressing on coffee table

Pour out wine from wine bottle into white yellow mug


Prepare a snack by arranging cookies and cream cheese on a plate, and pour orange juice into a red coffee mug, using items from the coffee table and short cabinet.

Pick up the cream cheese from the coffee table

Place down the cream cheese onto the plate

Pick up the cookies from the coffee table

Pick up the orange juice from the coffee table

Pour out the orange juice into the red coffee mug


Organize a dessert serving set by assembling a chocolate pudding on a plate and transferring it sequentially from the coffee table to the wine rack's top region and then to the bowl drainer's right region.

Place the chocolate pudding on the coffee table

Pick up the assembled dessert comprising plate and chocolate pudding from coffee table

Place the assembled dessert on wine rack top region

Pick up the assembled dessert comprising plate and chocolate pudding from wine rack top region

Place the assembled dessert on bowl drainer right region


Prepare a heated macaroni dish by combining macaroni_and_cheese and tomato_sauce in a white_bowl and heating it in a microwave retrieved from the coffee_table.

Pick up the white bowl from short cabinet’s top region

Place down the white bowl onto the 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.

Pick up the tomato sauce from coffee table

Pour the tomato sauce into the white bowl

Pick up the white bowl from coffee table

Place the white bowl into the microwave’s heating region


Prepare a snack and beverage by transferring popcorn from the coffee_table to a white_bowl for storage in a short_cabinet, then pouring wine from a wine_bottle into a red_coffee_mug after placing it on a table.

Place the white bowl into short cabinet middle region

Pick up the wine bottle from coffee table

Pour wine from the wine bottle into the red coffee mug


The task involves using a robotic arm to transfer the chefmate_8_frypan from the coffee_table to the rack, open the white_storage_box, and move the butter and cream_cheese from the coffee_table into specific positions inside the white_storage_box.

Place the butter into the white storage box at its left side.

Pick the cream cheese from the coffee table.

Place the cream cheese into the white storage box at its top side.


The task involves setting up a dining scene by preparing chocolate pudding in a white bowl, placing contents from a wine bottle onto a plate, and organizing kitchen tools like a frypan on a rack, with all items initially on a coffee table.

Pick up chocolate pudding from coffee table

Place down chocolate pudding onto coffee table

Pour out contents of wine bottle onto plate

Place down wine bottle onto coffee table


Prepare dual sauce arrangements by retrieving butter from the wooden_cabinet for the akita_black_bowl, bbq_sauce and ketchup from the coffee_table for the white_bowl and chefmate_8_frypan, and placing the white_bowl onto the wooden_tray in the contain_region.

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

Place the butter into the akita black bowl.

Pick up bbq sauce from the coffee table.

Place the white bowl onto the wooden tray in the contain region.


Arrange tabletop items by placing the porcelain_mug in the wooden_cabinet top_region, positioning the wooden_tray next to the wooden_cabinet top_region, and pouring the contents of the wine_bottle onto the wooden_tray contain_region.

Pick up the porcelain mug from coffee table.

Place the porcelain mug into the wooden cabinet top region.

Pick up the wooden tray contain region from coffee table.

Place the wooden tray contain region next to the wooden cabinet top region.

Pick up the wine bottle from coffee table.

Pour out the wine bottle onto the wooden tray contain region.


The task involves preparing a dish presentation by organizing and positioning chocolate pudding, salad dressing, white bowl, and macaroni and cheese from the coffee table and short cabinet.

Pull the short cabinet door open to access the middle region

Pick the chocolate pudding from the coffee table

Place the chocolate pudding inside the short cabinet at the middle region

Pick the new salad dressing container from the coffee table

Pour the new salad dressing into the white bowl

Place the new salad dressing on the coffee table

Pick up macaroni and cheese from the coffee table

Place the macaroni and cheese onto the surface next to the white bowl


The task involves using a robotic arm and gripper to sequentially pick up, move, and place a white bowl, butter, a black bowl, chocolate pudding, and a frypan on designated locations (coffee table or rack) to assemble food items and organize kitchenware.

Pick chocolate pudding from the coffee table.

Place chocolate pudding into the akita black bowl.

Place the chocolate pudding on the coffee table


The task involves arranging a casual dining setup by retrieving a chefmate_8_frypan from a wooden_cabinet and placing it on a table, along with transferring a plate, glazed_rim_porcelain_ramekin, wine_bottle (after pouring), and bbq_sauce (poured onto the plate) from the coffee_table to the table.

Pick up the frypan from wooden cabinet located at top region

Pick up the wine bottle from coffee table


Prepare a simple dish by assembling butter and tomato sauce on a plate, then store the plate safely in the white cabinet located at the top region.

Pick up the butter from the coffee table

Pick up the tomato sauce from the coffee table

Pour out the tomato sauce onto the plate

Place the tomato sauce on the coffee table

Open the white cabinet located at top side

Pick up the plate with ingredients from the workspace

Place the plate with ingredients into the white cabinet placed at top region


The task involves moving selected items (chocolate_pudding, akita_black_bowl, and red_coffee_mug) from the coffee_table to designated storage spots (short_cabinet, white_storage_box, and chefmate_8_frypan) for organization.

Pick up chocolate pudding from coffee table.

Place down chocolate pudding into top region of short cabinet.

Pick up akita black bowl from coffee table.

Place down akita black bowl into top side of white storage box.

Pick up red coffee mug from coffee table.

Place down red coffee mug on top of frypan.


The task involves arranging a serving setup by transferring cream cheese and popcorn from the coffee table into a white bowl, placing the bowl onto a wooden tray positioned on the table, and setting a chefmate frypan beside the tray in a designated region.

Place the cream cheese back on the coffee table

Place the popcorn back on the coffee table

Place white bowl onto wooden tray in region: contain region

Place frypan beside wooden tray in region: contain region


Prepare a dessert and beverage setup by assembling chocolate pudding in a white bowl, pouring milk into a red coffee mug, and relocating tomato sauce into a frypan, using items from a wooden cabinet and coffee table.

Pick up chocolate pudding from wooden cabinet top side.

Place chocolate pudding into white bowl.

Place the chocolate pudding back on the coffee table

Pour milk from coffee table into red coffee mug.

Place the tomato sauce on the coffee table.


Set up a dining display by arranging a plate with butter and poured salad dressing inside the middle region of a wooden cabinet and placing chocolate pudding beside the plate in the bottom region, with objects taken from the coffee table.

Open the wooden cabinet in the middle region

Place the plate into the wooden cabinet in the middle region

Pick up the butter from the coffee table

Pick up the salad dressing from the coffee table

Pour out the salad dressing onto the plate

Place the salad dressing back on the table

Pick up the chocolate pudding from the coffee table

Place the chocolate pudding beside the plate inside the wooden cabinet in the bottom region


The task involves using a robotic arm to rearrange kitchen tools (e.g., frypan and wooden shelf), store food items (e.g., popcorn and soup), and serve a beverage (wine) from a coffee table to designated locations like a rack, storage box, counter, shelf, or plate.

Place popcorn onto white storage box top side

Tilt wine bottle to pour wine onto plate

Place alphabet soup onto wooden two layer shelf top region


The task involves gathering and combining ingredients, including butter and tomato sauce, into an akita_black_bowl using objects such as a wooden_cabinet, chefmate_8_frypan, coffee_table, and bowl_drainer to prepare a mixed ingredient bowl.

Open the wooden cabinet in middle region

Pick up the tomato sauce from coffee table

Place the tomato sauce on the coffee table

Place down the butter into the akita black bowl


Store wine poured from a wine bottle into a red coffee mug, and place the mug in the middle region of a short fridge.

Pick up the wine bottle from coffee table

Pour contents from wine bottle into red coffee mug

Place the wine bottle on the coffee table

Pick up the red coffee mug from coffee table

Place the red coffee mug into the middle region of short fridge


Organize kitchen items by placing the chefmate_8_frypan into the top of the white_cabinet, the white_bowl onto the wine_rack top region, and handle the beverage by pouring out the wine_bottle before returning it to the coffee_table.

Place frypan into white cabinet white cabinet region for placement top side

Place white bowl on wine rack wine rack region top region


Prepare a snack tray by arranging cookies and warmed macaroni and cheese on a plate.

pick up the plate from white cabinet top side

pick up the macaroni and cheese from coffee table

place the macaroni and cheese in the microwave top side

pick up the warmed macaroni and cheese from the microwave top side

place the warmed macaroni and cheese on the plate


Organize beverages by relocating a wine bottle, porcelain mug, and BBQ sauce to designated storage areas, and prepare a drink by pouring orange juice into a porcelain mug from the coffee table.

Open the short cabinet at region top region

Place down wine bottle into short cabinet at region middle region

Place down orange juice into coffee table

Place down bbq sauce into wooden two layer shelf at region top side


Organize cookies, cream cheese, and wine using the coffee_table, dining_set_group, short_fridge, kitchen_counter, and porcelain_mug for storage and serving purposes.

Pick up the cream cheese from coffee table

Place the cream on top of the refrigerator

Pick up the wine bottle from kitchen counter

Pour the wine from the wine bottle into the porcelain mug

Place the wine bottle on kitchen counter


Heat alphabet soup in a glazed rim porcelain ramekin by retrieving it from a cabinet, combining it with the soup from a coffee table, and warming it on a flat stove.

Pick up the alphabet soup from coffee table

Place down the alphabet soup into the glazed rim porcelain ramekin

Place the alphabet soup on the coffee table

Place the glazed rim porcelain ramekin onto the flat stove cook region


Assemble a creative serving arrangement by transferring wine into a porcelain mug, salad dressing into a white bowl, and alphabet soup into a frypan, sequentially moving the items from a coffee table to a target table while positioning and pouring them into their respective containers.


Prepare a mixed sauce by pouring tomato sauce, ketchup, and wine into the chefmate_8_frypan, transferred from the coffee_table to a wooden_tray for containment, and ensuring all bottles are returned to the coffee_table after use.

Place the frypan on wooden tray; region: contain region

Pick up the tomato sauce from coffee table

Pour out the tomato sauce into the frypan

Place the tomato sauce bottle on coffee table

Place the ketchup bottle on coffee table

Pick up the wine bottle from coffee table

Pour out the contents of the wine bottle into the frypan


The task involves using a robotic arm to organize and serve items by moving chocolate pudding and a plate from a coffee table to a wooden two-layer shelf, pouring wine from a bottle onto a plate and returning the bottle to the coffee table, and transferring a porcelain mug from the coffee table to the bowl drainer.

Pick chocolate pudding off the coffee table

Place chocolate pudding onto the top region of the wooden two layer shelf

Move the robotic arm holding wine bottle above the plate for pouring

Place wine bottle onto the coffee table surface

Pick porcelain mug from the coffee table

Place porcelain mug into the left region of bowl drainer

Place plate onto the top side of the wooden two layer shelf


Warm up milk by pouring it into a porcelain mug, placing the mug in the microwave, and activating the microwave.

Pick up the porcelain cup from the coffee table

Place the porcelain cup in the heating area of the microwave oven


Reorganize the culinary setup by transferring the chefmate_8_frypan from the white_cabinet top_region to the coffee_table, interacting with the wine_bottle and orange_juice by pouring them out and placing them back on the coffee_table, and opening the short_cabinet middle_region.

Pick up frypan from white cabinet top region

Place the wine bottle on the coffee table

Place the orange juice on the coffee table


Serve a chocolate pudding on a plate and wine in a white-yellow mug at the serving area by transferring items from the coffee table and preparing them appropriately.

Pick up the chocolate pudding from coffee table

Place the chocolate pudding on the plate

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


Organize butter and chocolate pudding into storage areas and prepare a drink by pouring wine from a wine bottle into a porcelain mug.

Place down the butter into the white cabinet at top side

Pick up the wine bottle from coffee table

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

Place down the wine bottle onto coffee table

Place down the chocolate pudding into the bowl drainer at left region


Prepare a snack setup by putting cookies into a white bowl and pouring milk, wine, and orange juice from their respective containers.

Place the wine bottle on the coffee table.

Place the orange juice on the coffee table.


Organize kitchen items by using a robotic arm to store chocolate pudding in the white cabinet middle region, place the red coffee mug in the microwave heating region, and position the Chefmate 8" frypan on the wooden two-layer shelf top side.

Open the white cabinet at its middle region

Pick up chocolate pudding from the coffee table

Place chocolate pudding into the white cabinet middle region

Pick up red coffee mug from the coffee table

Place red coffee mug into the microwave heating region

Place frypan on the wooden two layer shelf top side


Organize kitchenware by placing a porcelain mug into the short cabinet middle region, a chefmate frypan onto the bowl drainer left region, and prepare ingredients by pouring liquid from a wine bottle before returning it to the coffee table.

Pick up the porcelain mug from coffee table

Place down the porcelain mug into the short cabinet middle region

Place the frypan onto the bowl drainer left region

Pour out the liquid from the wine bottle

Place down the wine bottle onto the coffee table


The task involves using a frypan, bowl, BBQ sauce, and macaroni and cheese to prepare a serving dish by organizing the frypan on a rack, placing the bowl on a table, and combining the BBQ sauce and macaroni and cheese in the bowl.

Pick up frypan region: none from coffee table

Place frypan region: none on rack region: none

Pick up bbq sauce region: none from coffee table

Pour bbq sauce region: none into white bowl region: none

Pick up macaroni and cheese region: none from coffee table

Place macaroni and cheese region: none into white bowl region: none


Heat alphabet soup in the microwave, garnish with cream cheese and wine on a plate, and position a frypan nearby for potential use.

Pick up the alphabet soup from coffee table

Place down the alphabet soup into the microwave at its heating region

Pick up the cream cheese from coffee table

Place down the cream cheese on the plate

Pick up the wine bottle from coffee table

Pour out the contents of the wine bottle onto the plate

Place down the wine bottle on the coffee table

Place down the frypan adjacent to the microwave at its top side


Prepare a mixed snack dish by arranging macaroni_and_cheese, salad_dressing, and wine_bottle contents onto a wooden_tray, while organizing butter in a white_cabinet and placing chefmate_8_frypan onto a rack.

Place butter into white cabinet top region

Pick up macaroni and cheese from coffee table

Place macaroni and cheese on wooden tray contain region

Pick up salad dressing from coffee table

Pour salad dressing onto wooden tray contain region

Place the salad dressing on the coffee table

Pour wine bottle contents onto wooden tray contain region

Place the wine bottle on the coffee table


The task involves preparing for cooking by manipulating objects—such as moving the akita_black_bowl, pouring salad_dressing into it, transferring it to the chefmate_8_frypan on a flat_stove, adding milk, and positioning the red_coffee_mug onto a dining_set_group—ensuring each step is executed with precision and alignment.

Place the container holding salad dressing.

Tilt the container to pour salad dressing into the akita black bowl.

Place the salad dressing back on the kitchen table

Pick the akita black bowl from the coffee table.

Place the akita black bowl over the frypan.

Place the control or power switch of the flat stove in cook region.

Pick up the frypan with the akita black bowl inside.

Place the frypan gently onto the flat stove in cook region.

Tilt the container to pour milk into the frypan.

Place the milk back on the kitchen table

Pick the red coffee mug from the coffee table.

Place the red coffee mug gently onto the dining set group.


Organize cookies into the middle region of a white cabinet, chocolate pudding into the top region of a wooden two-layer shelf, and pour out the contents of a wine bottle after picking them up from the coffee table.

Place down cookies into white cabinet middle region

Pick up chocolate pudding from coffee table

Pour out the contents of the wine bottle


Organize tableware and warm food by storing the red_coffee_mug in the top region of the white_cabinet and placing macaroni_and_cheese in the heating region of the microwave.

Place down the red coffee mug in the white cabinet region: top region

Place down the macaroni and cheese in the microwave region: heating region


The task involves using a robotic arm to prepare cooking by sequentially transferring and manipulating objects—white_bowl, chocolate_pudding, porcelain_mug, tomato_sauce, flat_stove, and moka_pot—between coffee_table, table, and cook_region, to set up ingredients and tools for cooking.

Pick the chocolate pudding from the coffee table.

Tilt the container to pour the chocolate pudding into the white bowl.

Pick the tomato sauce from the coffee table.

Tilt the container to pour the tomato sauce into the porcelain mug.

Pick the moka pot from the coffee table.

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


Store cookies and cream cheese in the short cabinet and mix salad dressing in the white bowl using various items from the coffee table.

Open the middle region door of the short cabinet which is located in middle region

Place cookies into the short cabinet which is located in middle region

Pick up cream cheese from the coffee table

Place cream cheese into the short cabinet which is located in middle region

Pick up the white bowl from the coffee table

Place the white bowl beside the short cabinet which is located in middle region

Pick up salad dressing from the coffee table

Place salad dressing on the coffee table

Pour the salad dressing in the white bowl


Prepare a refreshing drink service by assembling a white_yellow_mug filled with orange juice and a plate onto a wooden_tray using objects from the white_cabinet, coffee_table, and table.

pick up the plate from the white cabinet at top side

pick up the orange juice from the coffee table

pour out the orange juice into the white yellow mug on the table

pick up the white yellow mug (now containing orange juice) from the table

Place down the white yellow mug on the wooden tray at contain region 1

Place down the plate on the wooden tray at contain region 2


Organize kitchenware by relocating the akita_black_bowl to the short_cabinet, placing the glazed_rim_porcelain_ramekin and chefmate_8_frypan on the rack, and pouring out the milk and wine from their containers on the coffee_table.

Open the short cabinet located in the middle region

Pick up the akita black bowl from the coffee table

Place the akita black bowl inside the short cabinet located in the middle region

Pour out the milk from its container on the coffee table

Place the milk back on the kitchen table

Pick up the glazed rim porcelain ramekin from the coffee table

Place the glazed rim porcelain ramekin on the rack

Pick up the frypan from the coffee table

Pour out the contents of the wine bottle from the coffee table


Warm up macaroni and cheese using the microwave and prepare wine in a red coffee mug using a wine bottle from the coffee table, while handling a chefmate 8 frypan.

Pick up macaroni and cheese from coffee table.

Place macaroni and cheese into the microwave top side.

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


Prepare a dish with BBQ sauce by microwaving it and store a wine bottle in the wine rack.

Place down the bbq sauce onto the coffee table

Place down the plate into the microwave region: heating region

Pick up the wine bottle from coffee table

Place down the wine bottle into the wine rack region: top region


Organize snack items including cookies and cream cheese onto a wooden tray and akita black bowl, while arranging beverage serving ware such as a porcelain mug and wine bottle on a coffee table.

Place cookies on wooden tray with contain region

Pour wine from wine bottle into porcelain mug

Place cream cheese into akita black bowl


The task involves preparing for cooking by retrieving a chefmate_8_frypan from a white_cabinet and placing it on a table, turning on a flat_stove, pouring wine from a wine_bottle retrieved from a coffee_table and placing it on the table, and retrieving cookies from a white_storage_box and placing them on the table.

Pick up frypan from white cabinet on top region.

Pour out the wine bottle from the wine bottle.

Pick up cookies from white storage box on top side.


Heat tomato sauce by transferring the chefmate_8_frypan from the coffee_table to the flat_stove, turning on the stove, adding tomato_sauce from the coffee_table to the frypan, and cooking it.

Place the frypan onto the flat stove in cook region

Pick up the tomato sauce from the coffee table

Pour out the tomato sauce into the frypan

Place the tomato sauce on the coffee table


The task involves preparing a creamy sauce base by mixing cream cheese, tomato sauce, and BBQ sauce in a white bowl, setting a frying pan on a flat stove, turning on the stove, and inspecting the top region of a white cabinet.

Pick up the cream cheese from coffee table.

Place the cream cheese into the white bowl.

Place the cream cheese on the coffee table

Pick up the tomato sauce from coffee table.

Place the tomato sauce into the white bowl.

Pick up the bbq sauce from coffee table.

Place the bbq sauce into the white bowl.

Place the frypan onto the flat stove cook region.

Open the white cabinet top region top region.


Organize kitchen items by storing the cream_cheese in the wooden_cabinet top_region, placing the plate in the wooden_cabinet middle_region, and arranging the red_coffee_mug on the plate within the wooden_cabinet.

Pick up the cream cheese from the coffee table

Place the cream cheese into the wooden cabinet top region

Open the middle area of the wooden cabinet

Place the plate into the wooden cabinet middle region

Pick up the red coffee mug from the coffee table


Retrieve and arrange items, including chocolate_pudding, red_coffee_mug, macaroni_and_cheese, and chefmate_8_frypan, utilizing the white_cabinet, wooden_tray, coffee_table, and microwave for preparation purposes.

Pick up the chocolate pudding from white cabinet in top side

Place down the chocolate pudding on the wooden tray in contain region

Pick up the macaroni and cheese from coffee table

Place down the macaroni and cheese into the microwave in heating region


Organize a tray arrangement by retrieving a wooden tray from the coffee table, placing it in the white cabinet's top section, and sequentially adding a plate with chocolate pudding, a porcelain mug filled with wine from a wine bottle, all sourced from the coffee table.

Pick up the wooden tray contain region from coffee table

Place the wooden tray contain region into the white cabinet top side

Place the plate onto the wooden tray contain region

Pick up the chocolate pudding from coffee table

Place the chocolate pudding onto the plate

Pick up the porcelain mug from coffee table

Place the porcelain mug onto the wooden tray contain region

Pick up the wine bottle from coffee table

Pour the contents of the wine bottle into the porcelain mug


Prepare a mixed-dish display by transferring milk and ketchup into a white bowl and porcelain mug respectively, and storing the porcelain mug in the top region of a short cabinet.

Place the tomato sauce on the coffee table

Pick up porcelain mug from coffee table.

Place porcelain mug into the top region of short cabinet.


The task involves heating popcorn in a microwave and serving wine in a porcelain mug by using objects like a microwave, popcorn, coffee_table, porcelain_mug, and wine_bottle.

Place the popcorn into the microwave at heating region.

Pick up the wine bottle from coffee table.

Pour out the wine from the wine bottle into the porcelain mug.

Place the wine bottle back on the coffee table.


Organize a chefmate_8_frypan and red_coffee_mug into the white_cabinet and wooden_cabinet, respectively, and dispose of chocolate_pudding from the coffee_table.

Pick up the frypan from the coffee table.

Place down the frypan inside the white cabinet on top side.

Pick up the red coffee mug from the coffee table.

Place down the red coffee mug inside the wooden cabinet on top side.

Pick up the chocolate pudding from the coffee table.

Pour out the chocolate pudding on the coffee table.


The task involves using a robotic arm to organize items by sequentially moving the akita_black_bowl, wine_bottle, and chocolate_pudding from the coffee_table to designated regions in the white_cabinet, while also performing a pouring action with the wine_bottle on the coffee_table.

Pull the door open to expose the top region of the white cabinet

Pick the akita black bowl from the coffee table

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

Pick the wine bottle from the coffee table

Pour out the contents of the wine bottle onto the coffee table

Place the wine bottle onto the coffee table

Pull out the middle layer of the white cabinet

Pick the chocolate pudding from the coffee table

Place the chocolate pudding into the middle region of the white cabinet


Organize chocolate pudding, cookies, and an Akita black bowl from a coffee table into designated storage spaces, including a short cabinet and a wooden two-layer shelf.

Pick up chocolate pudding from coffee table

Place chocolate pudding into the middle region of short cabinet

Place the cookies back on the coffee table

Place the Akita Black Bowl in the upper area of the wooden shelving


Warm up macaroni and cheese by transferring it to a white bowl, placing the bowl into the microwave's heating region, and preparing the microwave for use.

Pick up macaroni and cheese from coffee table

Place macaroni and cheese into white bowl

Place the macaroni and cheese on the coffee table

Place white bowl into microwave heating region


Organize kitchen items by storing the chocolate_pudding in the short_fridge middle_region, placing the chefmate_8_frypan and wine_bottle after pouring out its contents onto the wooden_tray contain_region, and storing the white_bowl in the white_storage_box top_side.

Pick up the chocolate pudding from coffee table

Place the chocolate pudding into the short fridge middle region

Place the frypan onto the wooden tray contain region

Pick up the wine bottle from coffee table

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

Place the wine bottle onto the wooden tray contain region

Pick up the white bowl from coffee table

Place the white bowl into the white storage box top side


Redistribute selected items (chocolate_pudding, wine_bottle, and red_coffee_mug) from the coffee_table to their designated locations (middle_region of short_cabinet, top_region of wine_rack, and plate on coffee_table) for clearer organization.

Open the middle region of the short cabinet. short cabinet’s designated region: middle region

Pick up chocolate pudding from coffee table. chocolate pudding has no designated affordance region

Place down chocolate pudding into the middle region of the short cabinet. short cabinet’s designated region: middle region

Pick up wine bottle from coffee table. wine bottle has no designated affordance region

Place down wine bottle into the top region of the wine rack. wine rack’s designated region: top region


The task involves preparing an assembly sequence for a robotic arm to mix and transfer food items using various objects including a wooden tray, tomato sauce, white-yellow mug, wine bottle, akita black bowl, and cream cheese on a coffee table.

Tilt the container to pour out the tomato sauce onto the wooden tray at contain region.

Place the tomato sauce container onto the coffee table.

Tilt the wine bottle to pour out the wine into the white yellow mug.

Return the wine bottle to an upright Place.

Pick up cream cheese from the coffee table

Place the cream cheese into the akita black bowl.


Simulate a kitchen scene where a red coffee mug is filled with milk for beverage preparation and a chefmate frypan on a microwave is used to cook tomato sauce.

Pour out the milk into the red coffee mug

Place the milk container on coffee table

Open the microwave using affordance regions top side and heating region

Place the frypan onto the top side of microwave using region top side

Pick up the tomato sauce from coffee table

Pour out the tomato sauce onto the frypan

Place the tomato sauce container on coffee table


Compose a cooking preparation scene by arranging kitchen items, including moving a chefmate_8_frypan from a coffee_table to a flat_stove, placing a sauce-filled plate and bowl back onto the coffee_table, and interacting with a flat_stove and wooden_cabinet for cooking setup.

Place down frypan onto flat stove cook region.

Pour out tomato sauce into akita black bowl.

Place down tomato sauce onto coffee table.


Organize cookies into a white bowl from a wooden cabinet, place the bowl in a basket, and tidy up tableware by accessing the bowl drainer.

Pick up the white bowl from wooden cabinet middle region

Place down the white bowl on coffee table

Place down the cookies into the white bowl

Place the cookies back on the kitchen table

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

Place down the white bowl into the basket contain region


Prepare a snack and beverage setup by using a microwave, mug, and wine bottle to serve wine, and organizing popcorn and butter into respective containers from the coffee table.

Pick up wine bottle from the coffee table

Pour wine from the wine bottle into white yellow mug

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

Place butter into the basket [region: contain region]


The task involves using a robotic arm to manipulate various objects (white_bowl, cream_cheese, akita_black_bowl, flat_stove, wine_bottle, and short_cabinet) in a kitchen scene for actions such as lifting, moving, placing, pouring, turning on appliances, and opening a cabinet.

Pull handle to open short cabinet middle region in middle region


Store cookies in the short_cabinet and pour wine from the wine_bottle into the white_yellow_mug while interacting with the microwave.

Open the short cabinet in the middle region.

Place down the cookies into the short cabinet in the middle region.

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

Place the wine bottle back on the coffee table


Prepare a dessert snack station by assembling and arranging items including a white bowl with chocolate pudding, storing the bowl in a wooden cabinet, and pouring orange juice into a frypan.

Pick up chocolate pudding from coffee table

Place the chocolate pudding on the coffee table

Place white bowl into wooden cabinet at middle region

Pick up orange juice from the coffee table

Pour orange juice from coffee table into frypan


Arrange cookies on a plate from the coffee table and prepare a wine-infused red coffee mug, placing it into the wooden cabinet.

Pour wine from wine bottle into red coffee mug

Pick up red coffee mug from pouring station

Place red coffee mug into wooden cabinet middle region


Set up a quick “mix-and-serve” arrangement by using kitchen items such as a wooden cabinet, white storage box, red coffee mug, rack, chefmate frypan, orange juice, white bowl, salad dressing, and a coffee table to organize pouring and placement tasks efficiently.

Pick up the red coffee mug from the coffee table.

Pour out the orange juice from the coffee table into the frypan.

Pick up the new salad dressing from the coffee table.

Pour out the new salad dressing from the coffee table into the white bowl.

Place the new salad dressing onto the coffee table.


Combine butter and salad dressing in the white bowl, return each container to the coffee table, and place the bowl into the microwave to warm the mixture.

Pick up new salad dressing from coffee table

Pour out new salad dressing into white bowl

Place the new salad dressing on the coffee table.

Place down white bowl into microwave at top side


Organize selected kitchen items by storing the white_bowl in the top region of the white_cabinet, placing the akita_black_bowl in the left region of the bowl_drainer, and handling the wine_bottle by emptying its contents and returning it to the coffee_table.

Pick up the white bowl from the coffee table

Place the white bowl into the white cabinet top region

Pick up the akita black bowl from the coffee table

Place the akita black bowl into the bowl drainer left region

Pick up the wine bottle from the coffee table

Pour out the contents of the wine bottle

Place the wine bottle onto the coffee table


Open the microwave to heat popcorn, pour milk onto a plate before putting the carton back, and organize the wine bottle, bowl, Alphabet Soup, and moka pot on their designated spots for a snack setup.

pick up the popcorn from the coffee table

place the popcorn inside the microwave top side

pick up the wine bottle from the coffee table

place the wine bottle on the wine rack top region

pick up the akita black bowl from the coffee table

place the akita black bowl on the wooden two layer shelf top side

pick up the Alphabet Soup left region from the coffee table

pick up the moka pot from the coffee table


Set the frypan beside the microwave, open it, tuck the chocolate pudding into the basket, and pour out the wine bottle to arrange the coffee table items for use.

Place frypan next to microwave on top side

Pick up chocolate pudding from coffee table

Place chocolate pudding into basket on contain region


The task involves organizing food items (chocolate_pudding, milk) and tableware (akita_black_bowl, red_coffee_mug) by placing them near or inside kitchen appliances (microwave, white_cabinet) for convenience.

Place chocolate pudding into akita black bowl

Pick up red coffee mug from coffee table

Place red coffee mug next to microwave top side

Place milk beside white cabinet top region


Organize kitchen items by placing macaroni and cheese into the microwave, a wine bottle into the white cabinet, and an Akita black bowl into the bowl drainer for proper food preparation and storage.

Pick up the macaroni and cheese from coffee table

Place the macaroni and cheese into the microwave heating region

Pick up the wine bottle from coffee table

Place the wine bottle into the white cabinet top region

Pick up the akita black bowl from coffee table

Place the akita black bowl into the bowl drainer left region


Arrange a mini dining setup on the coffee_table by organizing a plate with alphabet_soup, placing a wooden_tray and red_coffee_mug, and positioning a poured wine_bottle back onto the coffee_table.

Place the alphabet soup on the coffee table.

Place red coffee mug on wooden tray which is in contain region


Heat butter in a chefmate_8_frypan using a microwave and prepare by organizing related objects, including a coffee_table, wooden_tray, and white_cabinet.

Place frypan onto wooden tray with region contain region

Place frypan into microwave with region heating region

Pick up frypan from microwave with region heating region


Set up a snack arrangement by retrieving cookies, wine, and popcorn from the coffee_table, placing the cookies in a white_bowl, popcorn in an akita_black_bowl, pouring out wine from the wine_bottle and returning it to the coffee_table, and opening storage regions of the short_cabinet and bowl_drainer.

Open the middle region region of short cabinet.

Pick up the cookies from the coffee table.

Pick up the wine bottle from the coffee table.

Place the wine bottle onto the coffee table.

Pick up the popcorn from the coffee table.

Place the popcorn into the akita black bowl.


Demonstrate a creative pouring sequence by using a microwave, porcelain mug, tomato sauce, glazed rim porcelain ramekin, and a wine bottle to transfer and mix their contents on a coffee table.

Pick up the tomato sauce from the coffee table.

Pour out the tomato sauce into the porcelain mug.

Place the tomato sauce on the coffee table.

Pour out the contents of the wine bottle into the glazed rim porcelain ramekin.

Place the wine bottle on the coffee table.


A robotic arm performs a culinary preparation task by interacting with various objects, including retrieving a glazed rim porcelain ramekin from a white cabinet and placing it on a table, transferring salad dressing into a red coffee mug and placing it on the table, moving chocolate pudding into a white storage box, opening a microwave door, and handling butter from a coffee table before concluding the sequence.

Place down the glazed rim porcelain ramekin on the table

Place the red coffee mug under the dispensing point of the new salad dressing container

Pick up the new salad dressing from the coffee table

Pour out the new salad dressing into the red coffee mug

Place down the new salad dressing on the table

Place down the chocolate pudding into the white storage box at top side

Pull the microwave door to open it at top side


Create a playful food arrangement by storing cookies in the middle region of the short cabinet and pouring ketchup and wine onto a plate placed on the coffee table.

Open the short cabinet at its middle region.

Pick up the cookies from the coffee table.

Place the cookies into the short cabinet at its middle region.

Pick up the ketchup from the coffee table.

Pick up the wine bottle from the coffee table.

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


The task involves organizing a dessert serving scene by storing cookies in the white cabinet, pouring chocolate pudding and wine into the akita black bowl, and arranging items like the bowl, pudding container, and wine bottle on the coffee table.

Place down cookies into white cabinet top region

Pick up chocolate pudding from coffee table

Pour out chocolate pudding into akita black bowl

Place down chocolate pudding container on coffee table

Pour out wine from wine bottle into akita black bowl


Create a creative snack arrangement by placing a plate with tomato sauce, cookies topped with cream cheese, and a wine bottle onto a wooden tray for presentation on a coffee table.

Place the plate on the wooden tray in contain region

Return the tomato sauce to the coffee table

Return the cream cheese to the coffee table

Place the wine bottle on the wooden tray in contain region


Prepare and heat orange juice in a white-yellow mug using a flat stove, store a white bowl in a white cabinet, and access the left region of a bowl drainer.

Pick up the orange juice from the coffee table

Pour out the orange juice into the white yellow mug

Pick up white yellow mug from the coffee table

Place the white yellow mug into the cook region of the flat stove

Open the middle region of the white cabinet

Pick up the white bowl from the coffee table

Place the white bowl into the middle region of the white cabinet


Melt butter by transferring it into a chefmate_8_frypan from a wooden cabinet, heating the frypan in a microwave, and pouring the melted butter onto a plate, using a coffee table to hold objects during the process.

Pick up the frypan from wooden cabinet [top region]

Place the butter into the frypan on coffee table

Pick up the frypan with butter from coffee table

Place the frypan with butter into microwave [heating region]

Open the microwave [top side] door from top side

Pick up the frypan with melted butter from microwave [heating region]

Pour out the melted butter from the frypan onto plate


Prepare a beverage by pouring orange juice into a white-and-yellow mug and secure butter in the white storage box while discarding an empty orange juice container and handling a wine bottle for use in a white bowl.

Place butter into white storage box at bottom side


Heat macaroni and cheese in a glazed porcelain ramekin using the microwave and pour wine from a wine bottle as a beverage.

Pick up the glazed rim porcelain ramekin from the coffee table

Pour glazed rim porcelain ramekin into the glazed rubber strap

Place the glazed rim porcelain ramekin on the coffee table

Pick up the microwave, macaroni and cheese from the coffee table

Place down the glazed rim porcelain ramekin with macaroni and cheese into the microwave at heating region

Pour out the contents of the wine bottle

Place down the wine bottle on coffee table


Prepare a heated macaroni and cheese meal by combining macaroni_and_cheese and butter in a white_bowl, then heating it in a microwave from the top_side.

Pick up the macaroni and cheese from kitchen table.

Place the macaroni and cheese into the white bowl.

Place the macaroni and cheese on the coffee table

Pick up the butter from white cabinet at top region.

Pick up the white bowl from the coffee table

Move the white bowl into the microwave at top side.


Prepare a mixed snack and drink arrangement by combining cream cheese, salad dressing, and popcorn in a white bowl for the snack, while pouring wine from a wine bottle into a porcelain mug for the drink and placing the mug onto a rack.

Place the cream cheese on the kitchen table

Pick up new salad dressing from kitchen table

Place the new salad dressing on the kitchen table

Open wooden cabinet from top side region

Pick up porcelain mug from wooden cabinet at top side region

Pour contents of wine bottle into porcelain mug

Pick up porcelain mug from kitchen table


Prepare a warm dessert dish by assembling chocolate pudding and tomato sauce on a plate, retrieving necessary tools like a moka pot and microwave, and heating the dessert in the microwave.

Pick up chocolate pudding from kitchen table.

Place the chocolate pudding on the coffee table

Pick up tomato sauce from kitchen table.

Pick up moka pot from wooden cabinet at top region.

Pick up the plate with the dessert from kitchen table.

Place the plate with the dessert inside microwave at heating region.


Organize kitchen items by storing the wine_bottle in the wine_rack's top_region, the chefmate_8_frypan on the wooden_two_layer_shelf's top_region, and the red_coffee_mug in the short_fridge's middle_region after retrieving them from the kitchen_table.

Open the short fridge in its upper region

Pick up the wine bottle from the kitchen table

Place the wine bottle into the wine rack's top region

Pick up the frypan from the kitchen table

Place the frypan on the wooden two layer shelf's top region

Pick up the red coffee mug from the kitchen table

Place the red coffee mug into the short fridge's middle region


Prepare a heated snack by cooking popcorn in a frypan on the flat stove, serving cookies on a plate, and pouring wine into a coffee mug as a beverage.

Pick up the plate from the wooden_cabinet top_side

Place the plate on the kitchen_table top_region

Pick up the cookies from the kitchen_table

Pick up the chefmate_8_frypan from the kitchen_table

Place the chefmate_8_frypan on the flat_stove cook_region

Pick up the popcorn from the kitchen_table

Place the popcorn into the chefmate_8_frypan

Pick up the wine_bottle from the kitchen_table

Pour wine from the wine_bottle into the red_coffee_mug


The task involves reorganizing food items and kitchen tools by transferring cookies from the kitchen table to the top region of the short cabinet, wine bottle from the kitchen table to the middle region of the short fridge, pouring orange juice and BBQ sauce onto a wooden tray, placing a moka pot onto the left region of a bowl drainer, and positioning a red coffee mug next to the wooden tray to ensure easier access and improved arrangement.

Open the door of the short cabinet top region.

Pick up the cookies from the kitchen table.

Place the cookies into the short cabinet top region.

Open the door of the short fridge middle region.

Pick up the wine bottle from the kitchen table.

Place the wine bottle into the short fridge middle region.

Pour the orange juice onto the wooden tray contain region.

Place the orange juice on the kitchen table.

Pour the bbq sauce onto the wooden tray none.

Place the barbecue sauce on the kitchen table.

Pick up the moka pot from the kitchen table.

Place the moka pot onto the bowl drainer left region.

Pick up the red coffee mug from the kitchen table.

Place the red coffee mug next to the wooden tray.


Organize a light snack and drink setup by preparing items including pouring orange juice into a porcelain mug, arranging cookies in a black bowl, placing popcorn and wine on the dining setup, heating a moka pot on a flat stove, and opening a white storage box from its top side.

Pick up the orange_juice from the kitchen_table

Pour out orange_juice into the porcelain_mug

Place orange_juice back on the kitchen_table

Pick up the cookies from the kitchen_table

Place the cookies into the akita_black_bowl

Pick up the popcorn from the kitchen_table

Place the popcorn on the dining_set_group

Turn on the flat_stove in cook_region on the kitchen_table

Pick up the moka_pot from the kitchen_table

Place the moka_pot on the flat_stove in cook_region

Pick up the wine_bottle from the kitchen_table

Pour out the contents of the wine_bottle onto the dining_set_group

Place the wine_bottle back on the kitchen_table


Refrigerate the chocolate_pudding, reorganize kitchen items (chefmate_8_frypan and akita_black_bowl) into the wooden_shelf and white_storage_box respectively, and pour out the orange_juice onto the wooden_shelf.

Pick up chocolate_pudding from kitchen_table.

Put chocolate_pudding into short_fridge in upper_region.

Pick up chefmate_8_frypan from kitchen_table.

Put chefmate_8_frypan onto wooden_shelf in top_side.

Pick up akita_black_bowl from kitchen_table.

Put akita_black_bowl into white_storage_box in bottom_side.

Pick up orange_juice from kitchen_table.

Pour out orange_juice onto wooden_shelf in top_side.

Restore the orange juice to its upright position